diff --git a/3drawers/sim_chunks/chunk_002/running_log.log b/3drawers/sim_chunks/chunk_002/running_log.log index 06947075eb37af0cf6928a09022f5e038f066332..74acfc754503f7ded4da11ff94f875c9a293e7d1 100644 --- a/3drawers/sim_chunks/chunk_002/running_log.log +++ b/3drawers/sim_chunks/chunk_002/running_log.log @@ -35144,3 +35144,10193 @@ 05/11 21:34:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] 05/11 21:34:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] 05/11 21:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:34:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 21:34:50 INFO: [Worker 0] Worker 0 house 1 episode 146 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 21:34:50 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=False episode_total=0.63s: + episode_total: mean=153.03s, total=153.03s, count=1, min=153033.3ms, max=153033.3ms + sensor_polling: mean=446.2ms, total=90.12s, count=202, min=307.0ms, max=790.7ms + physics_step: mean=26.2ms, total=5.29s, count=202, min=18.0ms, max=45.2ms + task_sampling: mean=628.2ms, total=628.2ms, count=1, min=628.2ms, max=628.2ms + task_specific_sample: mean=624.6ms, total=624.6ms, count=1, min=624.6ms, max=624.6ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=679.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:34:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:34:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:34:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:34:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:34:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:34:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:34:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119698m [env.py: 870] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:34:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20575354 -0.94478841 -0.11969843] yaw=-50.1deg [env.py: 1019] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29882137 -1.21914883 -0.11969843] yaw=-46.9deg [env.py: 1019] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:34:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=504.7ms, total=504.8ms [env.py: 1075] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -0.945, -0.120) [env.py: 1079] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/11 21:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:34:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:34:53 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40 [pipeline.py: 1044] +05/11 21:34:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 21:34:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:34:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:34:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:34:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.561s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:34:54 ERROR: [Worker 0] Worker 0 house 1 episode 147 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:34:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:34:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:34:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.02s (batch: 4.61s, save: 11.40s) [pipeline.py: 300] +05/11 21:34:56 INFO: [Worker 0] [PROFILE] Episode 203 house 1 success=True episode_total=3.89s: + episode_total: mean=56.74s, total=453.91s, count=8, min=343.4ms, max=216049.8ms + sensor_polling: mean=465.5ms, total=280.22s, count=602, min=308.8ms, max=761.4ms + physics_step: mean=27.9ms, total=16.78s, count=602, min=13.6ms, max=111.9ms + save_trajectories: mean=11.40s, total=11.40s, count=1, min=11403.7ms, max=11403.7ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4611.3ms, max=4611.3ms + task_specific_sample: mean=574.3ms, total=4.59s, count=8, min=338.5ms, max=898.2ms + task_sampling: mean=648.1ms, total=3.89s, count=6, min=470.9ms, max=901.5ms + task_sampling_failed: mean=365.9ms, total=731.7ms, count=2, min=343.4ms, max=388.3ms + scene_randomize: mean=1.2ms, total=9.7ms, count=8, min=0.9ms, max=1.4ms + mj_forward_sync: mean=530.2us, total=4.2ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=14.8us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:34:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:34:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:34:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:34:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:34:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:34:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:34:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:34:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166779m [env.py: 870] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:34:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=574.2ms, total=574.3ms [env.py: 1105] +05/11 21:34:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:34:56 ERROR: [Worker 0] Worker 0 house 1 episode 148 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:34:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:34:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:34:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:34:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:34:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184779m [env.py: 870] +05/11 21:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45960191 -1.07958985 -0.18477873] yaw=-58.1deg [env.py: 1019] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:34:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.8ms, total=254.9ms [env.py: 1075] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.080, -0.185) [env.py: 1079] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:34:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:34:58 INFO: [Worker 0] Worker 0 house 1 episode 204/240 collected=0/40 [pipeline.py: 1044] +05/11 21:34:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 21:34:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:34:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:34:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:34:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:34:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:34:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:34:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:34:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:34:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181483m [env.py: 870] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:34:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:34:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.292s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33729423 -0.91333638 -0.1814833 ] yaw=-59.1deg [env.py: 1019] +05/11 21:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:34:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=494.0ms, total=494.0ms [env.py: 1075] +05/11 21:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -0.913, -0.181) [env.py: 1079] +05/11 21:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/11 21:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/11 21:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:34:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:34:59 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40 [pipeline.py: 1044] +05/11 21:34:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/11 21:34:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:34:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:34:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:35:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.093s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:35:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.568[m] 89.946[deg] [grasp_sample.py: 539] +05/11 21:35:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:35:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.798s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:35:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.755[m] 92.868[deg] [grasp_sample.py: 539] +05/11 21:35:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:35:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:35:02 ERROR: [Worker 0] Worker 0 house 1 episode 149 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:35:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:35:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:35:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:35:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:35:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:35:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:35:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185532m [env.py: 870] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:35:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=613.9ms, total=614.0ms [env.py: 1105] +05/11 21:35:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:35:04 ERROR: [Worker 0] Worker 0 house 1 episode 150 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:35:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:35:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:35:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:35:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:35:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:35:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:35:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:35:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:35:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178385m [env.py: 870] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:35:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=651.9ms, total=651.9ms [env.py: 1105] +05/11 21:35:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:35:07 ERROR: [Worker 0] Worker 0 house 1 episode 151 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:35:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:35:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:35:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:35:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:35:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:35:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:35:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101313m [env.py: 870] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:35:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30795867 -1.07650479 -0.10131306] yaw=-39.6deg [env.py: 1019] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:35:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=287.9ms, total=287.9ms [env.py: 1075] +05/11 21:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.077, -0.101) [env.py: 1079] +05/11 21:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg [env.py: 1082] +05/11 21:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/11 21:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:35:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:35:09 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40 [pipeline.py: 1044] +05/11 21:35:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 21:35:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:35:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:35:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:35:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.442s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:35:09 INFO: [Worker 0] Feasible grasp found 576 (originally 576): w/ 0.237[m] 13.206[deg] [grasp_sample.py: 539] +05/11 21:35:11 ERROR: [Worker 0] Worker 0 house 1 episode 196 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:35:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.556s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:35:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.758[m] 79.181[deg] [grasp_sample.py: 539] +05/11 21:35:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:35:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:35:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:35:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:35:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:35:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:35:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176101m [env.py: 870] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:35:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39973637 -1.11604612 -0.1761009 ] yaw=-39.1deg [env.py: 1019] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:35:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=531.0ms, total=531.1ms [env.py: 1075] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.116, -0.176) [env.py: 1079] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg [env.py: 1082] +05/11 21:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:35:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:35:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:35:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:35:13 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40 [pipeline.py: 1044] +05/11 21:35:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 21:35:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:35:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:35:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:35:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:35:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.795s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:35:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.627[m] 84.613[deg] [grasp_sample.py: 539] +05/11 21:35:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:35:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:35:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:35:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:35:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:35:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:35:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:35:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:35:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:35:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.325s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:35:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.400[m] 57.898[deg] [grasp_sample.py: 539] +05/11 21:35:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:35:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:35:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:43 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 21:35:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:35:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:35:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:35:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/11 21:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.586s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:35:45 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.059[m] 0.447[deg] [grasp_sample.py: 539] +05/11 21:35:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:35:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:35:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:35:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:35:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:35:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:35:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:35:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:36:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:36:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.421s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:36:03 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.446[m] 56.380[deg] [grasp_sample.py: 539] +05/11 21:36:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:36:05 ERROR: [Worker 0] Worker 0 house 1 episode 204 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:36:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:36:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:36:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:36:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:36:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:36:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:36:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168318m [env.py: 870] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:36:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.9ms, total=246.0ms [env.py: 1105] +05/11 21:36:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:36:07 ERROR: [Worker 0] Worker 0 house 1 episode 205 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:36:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:36:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:36:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:36:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:36:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:36:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106368m [env.py: 870] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:36:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58335856 -1.01789976 -0.10636795] yaw=-57.1deg [env.py: 1019] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:36:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=267.4ms, total=267.5ms [env.py: 1075] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -1.018, -0.106) [env.py: 1079] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg [env.py: 1082] +05/11 21:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:36:09 INFO: [Worker 0] Worker 0 house 1 episode 206/240 collected=0/40 [pipeline.py: 1044] +05/11 21:36:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 21:36:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:36:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:36:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:36:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.913s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:36:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.659[m] 87.664[deg] [grasp_sample.py: 539] +05/11 21:36:14 ERROR: [Worker 0] Worker 0 house 1 episode 206 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:36:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:36:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:36:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132116m [env.py: 870] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43672127 -0.85395381 -0.13211636] yaw=-62.5deg [env.py: 1019] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46272791 -0.89252096 -0.13211636] yaw=-62.9deg [env.py: 1019] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=425.5ms, total=425.6ms [env.py: 1075] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.854, -0.132) [env.py: 1079] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/11 21:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:36:16 INFO: [Worker 0] Worker 0 house 1 episode 207/240 collected=0/40 [pipeline.py: 1044] +05/11 21:36:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 21:36:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:36:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:36:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:36:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:36:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.733s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:36:24 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.800[m] 88.156[deg] [grasp_sample.py: 539] +05/11 21:36:26 ERROR: [Worker 0] Worker 0 house 1 episode 207 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:36:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:36:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:36:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112686m [env.py: 870] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36493904 -0.85033897 -0.11268551] yaw=-66.9deg [env.py: 1019] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39345898 -0.92880817 -0.11268551] yaw=-59.5deg [env.py: 1019] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=333.9ms, total=334.0ms [env.py: 1075] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -0.850, -0.113) [env.py: 1079] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/11 21:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:36:28 INFO: [Worker 0] Worker 0 house 1 episode 208/240 collected=0/40 [pipeline.py: 1044] +05/11 21:36:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 21:36:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:36:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:36:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:36:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:36:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.326s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 208 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:36:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:36:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:36:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173238m [env.py: 870] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30019096 -1.11911347 -0.17323781] yaw=-39.6deg [env.py: 1019] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=279.3ms, total=279.3ms [env.py: 1075] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.119, -0.173) [env.py: 1079] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg [env.py: 1082] +05/11 21:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:36:32 INFO: [Worker 0] Worker 0 house 1 episode 209/240 collected=0/40 [pipeline.py: 1044] +05/11 21:36:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 21:36:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:36:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:36:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:36:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.798s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:36:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.665[m] 85.091[deg] [grasp_sample.py: 539] +05/11 21:36:35 ERROR: [Worker 0] Worker 0 house 1 episode 209 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:36:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:36:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:36:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:36:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:36:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:36:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:36:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151244m [env.py: 870] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:36:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=397.1ms, total=397.2ms [env.py: 1105] +05/11 21:36:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:36:36 ERROR: [Worker 0] Worker 0 house 1 episode 210 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:36:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:36:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:36:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:36:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:36:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:36:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155930m [env.py: 870] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:36:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30387538 -1.16968871 -0.15592985] yaw=-41.5deg [env.py: 1019] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29978049 -1.01779442 -0.15592985] yaw=-42.8deg [env.py: 1019] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:36:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=260.1ms, total=260.2ms [env.py: 1075] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.170, -0.156) [env.py: 1079] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/11 21:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:36:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:36:39 INFO: [Worker 0] Worker 0 house 1 episode 211/240 collected=0/40 [pipeline.py: 1044] +05/11 21:36:39 INFO: [Worker 0] Worker 0 house 1 episode 197 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/11 21:36:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:36:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:36:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:36:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:36:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.199s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:36:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.659[m] 94.234[deg] [grasp_sample.py: 539] +05/11 21:36:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:36:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:36:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:36:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:37:09 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:37:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 21:37:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 21:37:24 INFO: [Worker 0] Worker 0 house 1 episode 197 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:37:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:37:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:37:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.31s (batch: 4.55s, save: 12.75s) [pipeline.py: 300] +05/11 21:37:27 INFO: [Worker 0] [PROFILE] Episode 197 house 1 success=True episode_total=4.39s: + episode_total: mean=21.55s, total=258.61s, count=12, min=220.8ms, max=205449.6ms + sensor_polling: mean=455.8ms, total=136.75s, count=300, min=304.9ms, max=687.2ms + save_trajectories: mean=12.75s, total=12.75s, count=1, min=12753.9ms, max=12753.9ms + physics_step: mean=28.9ms, total=8.67s, count=300, min=20.0ms, max=75.8ms + task_specific_sample: mean=441.1ms, total=5.29s, count=12, min=217.5ms, max=686.3ms + save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4551.1ms, max=4551.1ms + task_sampling: mean=548.2ms, total=4.39s, count=8, min=460.6ms, max=689.0ms + task_sampling_failed: mean=236.7ms, total=947.0ms, count=4, min=220.7ms, max=255.3ms + scene_randomize: mean=1.5ms, total=17.6ms, count=12, min=1.1ms, max=3.8ms + mj_forward_sync: mean=567.0us, total=6.8ms, count=12, min=0.4ms, max=0.9ms + policy_setup: mean=13.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:37:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:37:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:37:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:37:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:37:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137033m [env.py: 870] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29138888 -1.16461622 -0.13703328] yaw=-44.0deg [env.py: 1019] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.6ms, total=230.7ms [env.py: 1075] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.165, -0.137) [env.py: 1079] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg [env.py: 1082] +05/11 21:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:37:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:37:29 INFO: [Worker 0] Worker 0 house 1 episode 198/240 collected=0/40 [pipeline.py: 1044] +05/11 21:37:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 21:37:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:37:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:37:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:37:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.950s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:37:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 88.971[deg] [grasp_sample.py: 539] +05/11 21:37:33 ERROR: [Worker 0] Worker 0 house 1 episode 198 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:37:33 INFO: [Worker 0] Worker 0 house 1 episode 152 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:37:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:37:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:37:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:37:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:37:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:37:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:37:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175480m [env.py: 870] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:37:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33551565 -1.20298993 -0.17547959] yaw=-41.9deg [env.py: 1019] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:37:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.336, -1.203, -0.175) [env.py: 1079] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/11 21:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:37:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:37:35 INFO: [Worker 0] Worker 0 house 1 episode 199/240 collected=0/40 [pipeline.py: 1044] +05/11 21:37:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 21:37:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:37:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:37:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:37:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.399s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:37:38 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.644[m] 69.174[deg] [grasp_sample.py: 539] +05/11 21:37:39 ERROR: [Worker 0] Worker 0 house 1 episode 199 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:37:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:37:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:37:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:37:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:37:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:37:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:37:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168809m [env.py: 870] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:37:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32360536 -1.09249244 -0.16880939] yaw=-42.9deg [env.py: 1019] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45312862 -0.94652251 -0.16880939] yaw=-68.6deg [env.py: 1019] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:37:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=222.1ms, total=222.2ms [env.py: 1075] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.092, -0.169) [env.py: 1079] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/11 21:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:37:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:37:42 INFO: [Worker 0] Worker 0 house 1 episode 200/240 collected=0/40 [pipeline.py: 1044] +05/11 21:37:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/11 21:37:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:37:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:37:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:37:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.731s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:37:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.688[m] 88.824[deg] [grasp_sample.py: 539] +05/11 21:37:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:37:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:37:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:37:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:37:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:37:49 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:37:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 21:37:49 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/11 21:37:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:38:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:38:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:38:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:38:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.63s (batch: 3.89s, save: 10.74s) [pipeline.py: 300] +05/11 21:38:05 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:38:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 21:38:05 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/11 21:38:05 INFO: [Worker 0] [PROFILE] Episode 197 house 1 success=True episode_total=1.32s: + episode_total: mean=139.13s, total=278.26s, count=2, min=106080.0ms, max=172176.7ms + sensor_polling: mean=456.5ms, total=179.41s, count=393, min=297.9ms, max=786.4ms + physics_step: mean=28.1ms, total=11.05s, count=393, min=14.8ms, max=82.8ms + save_trajectories: mean=10.74s, total=10.74s, count=1, min=10740.8ms, max=10740.8ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3885.9ms, max=3885.9ms + task_sampling: mean=658.7ms, total=1.32s, count=2, min=476.7ms, max=840.6ms + task_specific_sample: mean=655.6ms, total=1.31s, count=2, min=473.4ms, max=837.7ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.2ms, max=1.9ms + mj_forward_sync: mean=446.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:38:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184954m [env.py: 870] +05/11 21:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=460.0ms, total=460.0ms [env.py: 1105] +05/11 21:38:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:38:07 ERROR: [Worker 0] Worker 0 house 1 episode 198 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:38:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169481m [env.py: 870] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52988175 -0.85192372 -0.16948116] yaw=-75.6deg [env.py: 1019] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:38:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=314.5ms, total=314.5ms [env.py: 1075] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.852, -0.169) [env.py: 1079] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.6 deg [env.py: 1082] +05/11 21:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/11 21:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:38:09 INFO: [Worker 0] Worker 0 house 1 episode 199/240 collected=0/40 [pipeline.py: 1044] +05/11 21:38:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/11 21:38:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:38:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:38:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:38:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.879s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:38:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.703[m] 94.005[deg] [grasp_sample.py: 539] +05/11 21:38:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:38:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:38:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:38:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:38:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:38:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:38:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.73s (batch: 4.77s, save: 11.96s) [pipeline.py: 300] +05/11 21:38:22 INFO: [Worker 0] [PROFILE] Episode 152 house 1 success=True episode_total=2.08s: + episode_total: mean=33.78s, total=202.70s, count=6, min=590.0ms, max=194088.2ms + sensor_polling: mean=447.3ms, total=128.37s, count=287, min=307.3ms, max=811.0ms + save_trajectories: mean=11.96s, total=11.96s, count=1, min=11958.1ms, max=11958.1ms + physics_step: mean=28.0ms, total=8.05s, count=287, min=19.5ms, max=153.4ms + save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4774.5ms, max=4774.5ms + task_specific_sample: mean=654.8ms, total=3.93s, count=6, min=573.3ms, max=753.1ms + task_sampling: mean=693.3ms, total=2.08s, count=3, min=576.0ms, max=757.6ms + task_sampling_failed: mean=625.4ms, total=1.88s, count=3, min=590.0ms, max=662.3ms + scene_randomize: mean=1.2ms, total=7.5ms, count=6, min=1.0ms, max=1.4ms + mj_forward_sync: mean=550.1us, total=3.3ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102069m [env.py: 870] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=337.8ms, total=337.9ms [env.py: 1105] +05/11 21:38:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:38:24 ERROR: [Worker 0] Worker 0 house 1 episode 153 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:38:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126260m [env.py: 870] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=462.8ms, total=462.9ms [env.py: 1105] +05/11 21:38:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:38:26 ERROR: [Worker 0] Worker 0 house 1 episode 154 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:38:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153668m [env.py: 870] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.52893414 -0.99330695 -0.15366841] yaw=-69.2deg [env.py: 1019] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=327.2ms, total=327.3ms [env.py: 1075] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.993, -0.154) [env.py: 1079] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg [env.py: 1082] +05/11 21:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:38:28 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40 [pipeline.py: 1044] +05/11 21:38:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 21:38:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:38:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:38:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:38:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.082s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:38:31 INFO: [Worker 0] Feasible grasp found 887 (originally 223): w/ 0.663[m] 96.550[deg] [grasp_sample.py: 539] +05/11 21:38:33 ERROR: [Worker 0] Worker 0 house 1 episode 155 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:38:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166630m [env.py: 870] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=365.9ms, total=366.0ms [env.py: 1105] +05/11 21:38:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:38:35 ERROR: [Worker 0] Worker 0 house 1 episode 156 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:38:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179068m [env.py: 870] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44517372 -0.80852528 -0.1790684 ] yaw=-56.6deg [env.py: 1019] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=268.5ms, total=268.6ms [env.py: 1075] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.809, -0.179) [env.py: 1079] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/11 21:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:38:37 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40 [pipeline.py: 1044] +05/11 21:38:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 21:38:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:38:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:38:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:38:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.886s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:38:39 ERROR: [Worker 0] Worker 0 house 1 episode 157 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:38:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198446m [env.py: 870] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36292785 -0.82188996 -0.19844551] yaw=-65.0deg [env.py: 1019] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46180618 -1.00240026 -0.19844551] yaw=-47.9deg [env.py: 1019] +05/11 21:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:38:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=301.6ms, total=301.6ms [env.py: 1075] +05/11 21:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -0.822, -0.198) [env.py: 1079] +05/11 21:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/11 21:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/11 21:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:38:41 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40 [pipeline.py: 1044] +05/11 21:38:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 21:38:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:38:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:38:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:38:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.814s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:38:43 ERROR: [Worker 0] Worker 0 house 1 episode 158 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:38:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:38:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:38:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:38:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:38:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:38:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113088m [env.py: 870] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:38:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39268518 -1.12214987 -0.11308848] yaw=-51.6deg [env.py: 1019] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:38:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=636.7ms, total=636.7ms [env.py: 1075] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -1.122, -0.113) [env.py: 1079] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/11 21:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:38:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:38:45 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40 [pipeline.py: 1044] +05/11 21:38:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 21:38:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:38:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:38:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:38:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.924s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:38:50 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.681[m] 92.661[deg] [grasp_sample.py: 539] +05/11 21:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:38:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:38:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:38:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:38:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:38:59 INFO: [Worker 0] Worker 0 house 1 episode 211 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:39:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:39:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:28 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:39:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 21:39:28 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/11 21:39:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:39:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:39:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:39:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:39:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.968s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:39:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.087[m] 11.783[deg] [grasp_sample.py: 539] +05/11 21:39:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:39:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:39:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:39:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:39:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:39:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:39:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:39:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.43s (batch: 4.23s, save: 10.20s) [pipeline.py: 300] +05/11 21:39:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.645s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:39:43 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.170[m] 18.372[deg] [grasp_sample.py: 539] +05/11 21:39:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:39:43 INFO: [Worker 0] [PROFILE] Episode 211 house 1 success=True episode_total=3.49s: + episode_total: mean=34.38s, total=275.04s, count=8, min=256.8ms, max=185005.3ms + sensor_polling: mean=479.6ms, total=156.36s, count=326, min=334.7ms, max=937.8ms + save_trajectories: mean=10.20s, total=10.20s, count=1, min=10201.1ms, max=10201.1ms + physics_step: mean=29.9ms, total=9.74s, count=326, min=15.7ms, max=116.0ms + save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.1ms, max=4226.1ms + task_specific_sample: mean=515.3ms, total=4.12s, count=8, min=251.1ms, max=677.0ms + task_sampling: mean=581.0ms, total=3.49s, count=6, min=535.2ms, max=680.6ms + task_sampling_failed: mean=332.6ms, total=665.3ms, count=2, min=256.8ms, max=408.5ms + scene_randomize: mean=1.2ms, total=9.9ms, count=8, min=0.9ms, max=2.2ms + mj_forward_sync: mean=479.9us, total=3.8ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=14.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:39:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:39:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:39:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:39:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:39:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:39:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172990m [env.py: 870] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57039712 -0.79907738 -0.17298971] yaw=-74.4deg [env.py: 1019] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44485401 -0.85023999 -0.17298971] yaw=-53.5deg [env.py: 1019] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:39:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=243.2ms, total=243.3ms [env.py: 1075] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.570, -0.799, -0.173) [env.py: 1079] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.4 deg [env.py: 1082] +05/11 21:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:39:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:39:45 INFO: [Worker 0] Worker 0 house 1 episode 212/240 collected=0/40 [pipeline.py: 1044] +05/11 21:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 21:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:39:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:39:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.464s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:39:49 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.750[m] 91.940[deg] [grasp_sample.py: 539] +05/11 21:39:51 ERROR: [Worker 0] Worker 0 house 1 episode 212 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:39:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:39:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:39:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:39:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:39:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:39:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189204m [env.py: 870] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:39:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=212.9ms, total=213.0ms [env.py: 1105] +05/11 21:39:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:39:52 ERROR: [Worker 0] Worker 0 house 1 episode 213 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:39:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:39:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:39:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167943m [env.py: 870] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=396.8ms, total=396.9ms [env.py: 1105] +05/11 21:39:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:39:54 ERROR: [Worker 0] Worker 0 house 1 episode 214 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:39:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:39:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:39:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:39:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:39:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:39:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:39:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:39:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166116m [env.py: 870] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:39:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=274.4ms, total=274.4ms [env.py: 1105] +05/11 21:39:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:39:56 ERROR: [Worker 0] Worker 0 house 1 episode 215 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:39:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:39:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:39:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199272m [env.py: 870] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44988671 -0.77573259 -0.19927159] yaw=-64.7deg [env.py: 1019] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23423988 -0.9499308 -0.19927159] yaw=-50.0deg [env.py: 1019] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=267.8ms, total=267.9ms [env.py: 1075] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -0.776, -0.199) [env.py: 1079] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/11 21:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/11 21:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:39:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:39:58 INFO: [Worker 0] Worker 0 house 1 episode 216/240 collected=0/40 [pipeline.py: 1044] +05/11 21:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 21:39:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:39:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:39:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.863s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:40:00 ERROR: [Worker 0] Worker 0 house 1 episode 216 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:40:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:40:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131555m [env.py: 870] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31228213 -0.89470119 -0.13155521] yaw=-46.2deg [env.py: 1019] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=574.6ms, total=574.7ms [env.py: 1075] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -0.895, -0.132) [env.py: 1079] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/11 21:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:02 INFO: [Worker 0] Worker 0 house 1 episode 200 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:40:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:40:02 INFO: [Worker 0] Worker 0 house 1 episode 217/240 collected=0/40 [pipeline.py: 1044] +05/11 21:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 21:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:40:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:40:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:40:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.870s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:40:05 ERROR: [Worker 0] Worker 0 house 1 episode 217 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:40:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:40:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:40:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:40:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:40:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:40:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160207m [env.py: 870] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:40:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58058727 -1.00444611 -0.1602072 ] yaw=-64.4deg [env.py: 1019] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36257163 -1.13851126 -0.1602072 ] yaw=-42.5deg [env.py: 1019] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=280.1ms, total=280.1ms [env.py: 1075] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -1.004, -0.160) [env.py: 1079] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/11 21:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:40:07 INFO: [Worker 0] Worker 0 house 1 episode 218/240 collected=0/40 [pipeline.py: 1044] +05/11 21:40:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 21:40:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:40:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:40:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:40:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:40:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.627s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:40:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.587[m] 93.840[deg] [grasp_sample.py: 539] +05/11 21:40:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:40:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:40:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:40:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:40:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:40:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:40:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:31 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:40:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 21:40:31 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/11 21:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:40:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:40:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:40:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:40:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:40:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.284s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:40:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.468[m] 70.140[deg] [grasp_sample.py: 539] +05/11 21:40:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:40:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:40:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:40:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:40:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.21s (batch: 3.95s, save: 12.26s) [pipeline.py: 300] +05/11 21:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:48 INFO: [Worker 0] [PROFILE] Episode 200 house 1 success=True episode_total=1.53s: + episode_total: mean=65.35s, total=196.06s, count=3, min=4372.8ms, max=186999.9ms + sensor_polling: mean=468.5ms, total=128.82s, count=275, min=340.1ms, max=852.4ms + save_trajectories: mean=12.26s, total=12.26s, count=1, min=12255.4ms, max=12255.4ms + physics_step: mean=29.9ms, total=8.22s, count=275, min=15.7ms, max=90.8ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.6ms, max=3950.6ms + task_sampling: mean=509.3ms, total=1.53s, count=3, min=494.1ms, max=535.5ms + task_specific_sample: mean=505.8ms, total=1.52s, count=3, min=491.3ms, max=530.9ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.1ms, max=3.0ms + mj_forward_sync: mean=540.9us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=16.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:40:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:40:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:40:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:40:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:40:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:40:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:40:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159775m [env.py: 870] +05/11 21:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:40:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.352515 -0.83555321 -0.15977497] yaw=-64.6deg [env.py: 1019] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3050387 -1.15949945 -0.15977497] yaw=-45.0deg [env.py: 1019] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44559333 -0.89665778 -0.15977497] yaw=-59.0deg [env.py: 1019] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:40:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=490.9ms, total=490.9ms [env.py: 1075] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -0.836, -0.160) [env.py: 1079] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/11 21:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/11 21:40:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:40:50 INFO: [Worker 0] Worker 0 house 1 episode 201/240 collected=0/40 [pipeline.py: 1044] +05/11 21:40:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 21:40:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:40:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:40:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.408s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.103s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:40:53 ERROR: [Worker 0] Worker 0 house 1 episode 201 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:40:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:40:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:40:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:40:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:40:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116888m [env.py: 870] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:40:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39475981 -1.13379654 -0.1168883 ] yaw=-56.6deg [env.py: 1019] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:40:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=222.0ms, total=222.0ms [env.py: 1075] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.134, -0.117) [env.py: 1079] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/11 21:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:40:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:40:55 INFO: [Worker 0] Worker 0 house 1 episode 202/240 collected=0/40 [pipeline.py: 1044] +05/11 21:40:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 21:40:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:40:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:40:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:41:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:41:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.174s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:02 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.681[m] 84.011[deg] [grasp_sample.py: 539] +05/11 21:41:03 ERROR: [Worker 0] Worker 0 house 1 episode 202 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:41:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.628s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.468[m] 70.140[deg] [grasp_sample.py: 539] +05/11 21:41:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:41:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:41:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:41:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142679m [env.py: 870] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:05 INFO: [Worker 0] Worker 0 house 1 episode 159 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:41:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=414.9ms, total=414.9ms [env.py: 1105] +05/11 21:41:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:41:05 ERROR: [Worker 0] Worker 0 house 1 episode 203 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167259m [env.py: 870] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65707282 -0.91319087 -0.16725872] yaw=-73.7deg [env.py: 1019] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:41:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=564.0ms, total=564.1ms [env.py: 1075] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.657, -0.913, -0.167) [env.py: 1079] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg [env.py: 1082] +05/11 21:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/11 21:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:41:08 INFO: [Worker 0] Worker 0 house 1 episode 204/240 collected=0/40 [pipeline.py: 1044] +05/11 21:41:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 21:41:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.673[m] 97.502[deg] [grasp_sample.py: 539] +05/11 21:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:11 ERROR: [Worker 0] Worker 0 house 1 episode 204 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:41:11 INFO: [Worker 0] Worker 0 house 1 episode 199 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186842m [env.py: 870] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=307.0ms, total=307.1ms [env.py: 1105] +05/11 21:41:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:41:12 ERROR: [Worker 0] Worker 0 house 1 episode 205 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157851m [env.py: 870] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55875354 -0.97926595 -0.15785055] yaw=-57.8deg [env.py: 1019] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=315.8ms, total=315.8ms [env.py: 1075] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.979, -0.158) [env.py: 1079] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/11 21:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:41:15 INFO: [Worker 0] Worker 0 house 1 episode 206/240 collected=0/40 [pipeline.py: 1044] +05/11 21:41:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/11 21:41:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.099s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.628[m] 87.650[deg] [grasp_sample.py: 539] +05/11 21:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:18 ERROR: [Worker 0] Worker 0 house 1 episode 206 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:41:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:41:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129483m [env.py: 870] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.8ms, total=212.9ms [env.py: 1105] +05/11 21:41:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:41:21 ERROR: [Worker 0] Worker 0 house 1 episode 207 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:41:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148646m [env.py: 870] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58421106 -0.72399129 -0.14864645] yaw=-62.3deg [env.py: 1019] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:41:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=305.7ms, total=305.7ms [env.py: 1075] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.724, -0.149) [env.py: 1079] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/11 21:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:41:23 INFO: [Worker 0] Worker 0 house 1 episode 208/240 collected=0/40 [pipeline.py: 1044] +05/11 21:41:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 21:41:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.868s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:23 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.468[m] 70.140[deg] [grasp_sample.py: 539] +05/11 21:41:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:41:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:41:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:41:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:41:24 ERROR: [Worker 0] Worker 0 house 1 episode 208 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172935m [env.py: 870] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52534785 -0.77288063 -0.17293522] yaw=-62.5deg [env.py: 1019] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:41:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=335.4ms, total=335.5ms [env.py: 1075] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.773, -0.173) [env.py: 1079] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/11 21:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:41:27 INFO: [Worker 0] Worker 0 house 1 episode 209/240 collected=0/40 [pipeline.py: 1044] +05/11 21:41:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 21:41:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.949s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:41:29 ERROR: [Worker 0] Worker 0 house 1 episode 209 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156467m [env.py: 870] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=466.8ms, total=466.9ms [env.py: 1105] +05/11 21:41:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:41:31 ERROR: [Worker 0] Worker 0 house 1 episode 210 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183659m [env.py: 870] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5335264 -1.04082887 -0.18365947] yaw=-65.7deg [env.py: 1019] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:41:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=246.0ms, total=246.1ms [env.py: 1075] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -1.041, -0.184) [env.py: 1079] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/11 21:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:41:33 INFO: [Worker 0] Worker 0 house 1 episode 211/240 collected=0/40 [pipeline.py: 1044] +05/11 21:41:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 21:41:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.136s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:34 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.615[m] 91.596[deg] [grasp_sample.py: 539] +05/11 21:41:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:41:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:41:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:41:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:37 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:41:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 21:41:37 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/11 21:41:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:39 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:41:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 21:41:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 21:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:41:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 21:41:40 INFO: [Worker 0] Worker 0 house 1 episode 218 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 21:41:40 INFO: [Worker 0] [PROFILE] Episode 218 house 1 success=False episode_total=2.61s: + episode_total: mean=15.19s, total=106.34s, count=7, min=226.4ms, max=93777.9ms + sensor_polling: mean=490.8ms, total=32.40s, count=66, min=358.5ms, max=714.2ms + task_specific_sample: mean=500.2ms, total=3.50s, count=7, min=220.0ms, max=874.8ms + task_sampling: mean=653.0ms, total=2.61s, count=4, min=564.8ms, max=877.7ms + physics_step: mean=23.3ms, total=1.54s, count=66, min=13.4ms, max=47.1ms + task_sampling_failed: mean=309.4ms, total=928.1ms, count=3, min=226.4ms, max=415.1ms + scene_randomize: mean=1.4ms, total=10.1ms, count=7, min=0.9ms, max=2.9ms + mj_forward_sync: mean=496.8us, total=3.5ms, count=7, min=0.4ms, max=0.7ms + policy_setup: mean=15.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119065m [env.py: 870] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42935421 -1.10013911 -0.11906497] yaw=-50.4deg [env.py: 1019] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41689006 -1.09653192 -0.11906497] yaw=-55.3deg [env.py: 1019] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2447883 -1.049635 -0.11906497] yaw=-34.8deg [env.py: 1019] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:41:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=485.9ms, total=485.9ms [env.py: 1075] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.100, -0.119) [env.py: 1079] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/11 21:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:41:42 INFO: [Worker 0] Worker 0 house 1 episode 219/240 collected=0/40 [pipeline.py: 1044] +05/11 21:41:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.364s [base_object_manipulation_planner_policy.py: 377] +05/11 21:41:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.882s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.683[m] 89.228[deg] [grasp_sample.py: 539] +05/11 21:41:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:41:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:41:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:41:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:41:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:41:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:41:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.85s (batch: 3.66s, save: 12.19s) [pipeline.py: 300] +05/11 21:41:53 INFO: [Worker 0] [PROFILE] Episode 159 house 1 success=True episode_total=2.65s: + episode_total: mean=28.59s, total=200.13s, count=7, min=350.0ms, max=188902.8ms + sensor_polling: mean=444.4ms, total=121.77s, count=274, min=297.8ms, max=805.2ms + save_trajectories: mean=12.19s, total=12.19s, count=1, min=12185.6ms, max=12185.6ms + physics_step: mean=27.3ms, total=7.48s, count=274, min=19.5ms, max=56.6ms + task_specific_sample: mean=546.7ms, total=3.83s, count=7, min=343.6ms, max=920.5ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3660.2ms, max=3660.2ms + task_sampling: mean=663.3ms, total=2.65s, count=4, min=523.7ms, max=923.5ms + task_sampling_failed: mean=401.7ms, total=1.21s, count=3, min=349.9ms, max=479.1ms + scene_randomize: mean=1.5ms, total=10.2ms, count=7, min=1.2ms, max=2.7ms + mj_forward_sync: mean=569.0us, total=4.0ms, count=7, min=0.4ms, max=0.7ms + policy_setup: mean=13.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155549m [env.py: 870] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47931634 -0.89368139 -0.15554855] yaw=-61.3deg [env.py: 1019] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:41:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:41:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.78s (batch: 5.22s, save: 10.55s) [pipeline.py: 300] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:41:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.3ms, total=225.3ms [env.py: 1075] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -0.894, -0.156) [env.py: 1079] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/11 21:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:41:55 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40 [pipeline.py: 1044] +05/11 21:41:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/11 21:41:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:41:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:41:56 INFO: [Worker 0] [PROFILE] Episode 199 house 1 success=True episode_total=0.59s: + episode_total: mean=113.92s, total=227.84s, count=2, min=473.5ms, max=227361.6ms + sensor_polling: mean=452.7ms, total=135.82s, count=300, min=327.0ms, max=893.3ms + save_trajectories: mean=10.55s, total=10.55s, count=1, min=10550.3ms, max=10550.3ms + physics_step: mean=27.8ms, total=8.33s, count=300, min=20.0ms, max=58.6ms + save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5225.0ms, max=5225.0ms + task_specific_sample: mean=527.5ms, total=1.06s, count=2, min=467.7ms, max=587.3ms + task_sampling: mean=590.5ms, total=590.5ms, count=1, min=590.5ms, max=590.5ms + task_sampling_failed: mean=473.4ms, total=473.4ms, count=1, min=473.4ms, max=473.4ms + scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.3ms, max=3.2ms + mj_forward_sync: mean=636.4us, total=1.3ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:41:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164956m [env.py: 870] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.762s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:41:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.749[m] 95.788[deg] [grasp_sample.py: 539] +05/11 21:41:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.9ms, total=233.0ms [env.py: 1105] +05/11 21:41:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:41:58 ERROR: [Worker 0] Worker 0 house 1 episode 200 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:41:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:41:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:41:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:41:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:41:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:41:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:41:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:41:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:41:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:41:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:41:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151612m [env.py: 870] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:41:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:41:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=264.8ms, total=264.8ms [env.py: 1105] +05/11 21:41:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:41:59 ERROR: [Worker 0] Worker 0 house 1 episode 201 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:42:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:42:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:42:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:42:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:42:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171121m [env.py: 870] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:42:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=310.6ms, total=310.6ms [env.py: 1105] +05/11 21:42:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:42:01 ERROR: [Worker 0] Worker 0 house 1 episode 202 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:42:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:42:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:42:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:42:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:42:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179827m [env.py: 870] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:42:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=241.6ms, total=241.6ms [env.py: 1105] +05/11 21:42:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:42:03 ERROR: [Worker 0] Worker 0 house 1 episode 203 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:42:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:42:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:42:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:42:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:42:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168462m [env.py: 870] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:42:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23006743 -1.16387338 -0.16846158] yaw=-37.5deg [env.py: 1019] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:42:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=242.6ms, total=242.6ms [env.py: 1075] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -1.164, -0.168) [env.py: 1079] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/11 21:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:42:05 INFO: [Worker 0] Worker 0 house 1 episode 204/240 collected=0/40 [pipeline.py: 1044] +05/11 21:42:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 21:42:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:42:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:42:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:42:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:42:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:42:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:42:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:42:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:42:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.208s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:42:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.682[m] 80.084[deg] [grasp_sample.py: 539] +05/11 21:42:10 ERROR: [Worker 0] Worker 0 house 1 episode 204 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:42:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.345s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:42:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.456[m] 62.661[deg] [grasp_sample.py: 539] +05/11 21:42:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:42:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:42:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:42:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:42:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:42:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:42:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:42:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106931m [env.py: 870] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:42:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.3ms, total=220.3ms [env.py: 1105] +05/11 21:42:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:42:12 ERROR: [Worker 0] Worker 0 house 1 episode 205 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:42:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:42:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:42:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:42:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:42:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:42:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:42:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:42:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105690m [env.py: 870] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:42:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6704829 -0.96514214 -0.10569015] yaw=-78.2deg [env.py: 1019] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:42:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.9ms, total=233.9ms [env.py: 1075] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.670, -0.965, -0.106) [env.py: 1079] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.2 deg [env.py: 1082] +05/11 21:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:42:14 INFO: [Worker 0] Worker 0 house 1 episode 206/240 collected=0/40 [pipeline.py: 1044] +05/11 21:42:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 21:42:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:42:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:42:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:42:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.150s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:42:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.639[m] 92.467[deg] [grasp_sample.py: 539] +05/11 21:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:42:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:42:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:42:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:42:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:42:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:42:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:42:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.780s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:42:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.456[m] 62.661[deg] [grasp_sample.py: 539] +05/11 21:42:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:42:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:42:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:42:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:42:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:42:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:42:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:42:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:42:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:42:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:42:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:42:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.355s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:42:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.456[m] 62.661[deg] [grasp_sample.py: 539] +05/11 21:42:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:42:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:42:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:42:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.029s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:42:49 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.512[m] 70.419[deg] [grasp_sample.py: 539] +05/11 21:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:51 ERROR: [Worker 0] Worker 0 house 1 episode 206 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:42:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:42:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:42:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:42:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:42:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:42:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:42:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120828m [env.py: 870] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:42:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=243.5ms, total=243.6ms [env.py: 1105] +05/11 21:42:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:42:53 ERROR: [Worker 0] Worker 0 house 1 episode 207 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:42:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:42:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:42:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:42:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:42:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160277m [env.py: 870] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:42:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53411023 -0.82220861 -0.16027687] yaw=-63.6deg [env.py: 1019] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27390146 -1.16546817 -0.16027687] yaw=-34.0deg [env.py: 1019] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:42:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=324.2ms, total=324.2ms [env.py: 1075] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.822, -0.160) [env.py: 1079] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg [env.py: 1082] +05/11 21:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:42:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:42:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:42:55 INFO: [Worker 0] Worker 0 house 1 episode 208/240 collected=0/40 [pipeline.py: 1044] +05/11 21:42:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 21:42:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:42:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:42:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.998s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:42:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.786[m] 79.596[deg] [grasp_sample.py: 539] +05/11 21:42:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:42:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:42:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:42:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:43:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:43:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:43:03 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 21:43:03 INFO: [Worker 0] Worker 0 house 1 episode 211 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 21:43:03 INFO: [Worker 0] [PROFILE] Episode 211 house 1 success=False episode_total=4.58s: + episode_total: mean=10.75s, total=118.27s, count=11, min=227.8ms, max=91120.3ms + sensor_polling: mean=442.0ms, total=33.15s, count=75, min=316.1ms, max=687.6ms + task_specific_sample: mean=544.1ms, total=5.99s, count=11, min=217.9ms, max=883.9ms + task_sampling: mean=654.1ms, total=4.58s, count=7, min=496.7ms, max=886.7ms + physics_step: mean=23.1ms, total=1.73s, count=75, min=13.3ms, max=78.2ms + task_sampling_failed: mean=362.6ms, total=1.45s, count=4, min=227.8ms, max=477.2ms + scene_randomize: mean=1.4ms, total=15.1ms, count=11, min=0.9ms, max=2.9ms + mj_forward_sync: mean=544.9us, total=6.0ms, count=11, min=0.4ms, max=0.7ms + policy_setup: mean=17.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:43:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:43:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:43:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:43:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:43:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:43:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140908m [env.py: 870] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:43:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=227.3ms, total=227.3ms [env.py: 1105] +05/11 21:43:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:43:05 ERROR: [Worker 0] Worker 0 house 1 episode 212 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:43:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:43:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:43:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:43:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:43:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:43:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138602m [env.py: 870] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:43:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22885716 -1.14444333 -0.13860156] yaw=-34.1deg [env.py: 1019] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:43:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.9ms, total=229.9ms [env.py: 1075] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.144, -0.139) [env.py: 1079] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/11 21:43:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:43:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:43:07 INFO: [Worker 0] Worker 0 house 1 episode 213/240 collected=0/40 [pipeline.py: 1044] +05/11 21:43:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 21:43:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:43:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:43:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:43:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.494s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:43:13 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.712[m] 79.400[deg] [grasp_sample.py: 539] +05/11 21:43:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:43:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:43:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:43:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:43:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:43:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:43:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:43:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:43:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:43:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.458s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:43:20 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.125[m] 7.327[deg] [grasp_sample.py: 539] +05/11 21:43:21 ERROR: [Worker 0] Worker 0 house 1 episode 160 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:43:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:43:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:43:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:43:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194326m [env.py: 870] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43962884 -1.02988301 -0.19432589] yaw=-60.9deg [env.py: 1019] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38772995 -1.11650934 -0.19432589] yaw=-56.7deg [env.py: 1019] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:43:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=285.3ms, total=285.3ms [env.py: 1075] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -1.030, -0.194) [env.py: 1079] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/11 21:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:43:23 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40 [pipeline.py: 1044] +05/11 21:43:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 21:43:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:43:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:43:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:43:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.796s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:43:27 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.654[m] 96.724[deg] [grasp_sample.py: 539] +05/11 21:43:29 ERROR: [Worker 0] Worker 0 house 1 episode 161 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:43:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:43:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:43:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:43:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:43:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:43:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179780m [env.py: 870] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:43:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39735597 -1.04189997 -0.17977984] yaw=-42.6deg [env.py: 1019] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16577529 -0.99488676 -0.17977984] yaw=-53.9deg [env.py: 1019] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4720342 -0.84669081 -0.17977984] yaw=-68.6deg [env.py: 1019] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:43:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=303.5ms, total=303.6ms [env.py: 1075] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -1.042, -0.180) [env.py: 1079] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.6 deg [env.py: 1082] +05/11 21:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:43:31 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40 [pipeline.py: 1044] +05/11 21:43:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 21:43:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:43:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:43:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:43:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.999s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:43:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.677[m] 76.519[deg] [grasp_sample.py: 539] +05/11 21:43:36 ERROR: [Worker 0] Worker 0 house 1 episode 162 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:43:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:43:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:43:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:43:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:43:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:43:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137086m [env.py: 870] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:43:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=252.8ms, total=252.9ms [env.py: 1105] +05/11 21:43:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:43:38 ERROR: [Worker 0] Worker 0 house 1 episode 163 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:43:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:43:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:43:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:43:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:43:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:43:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:43:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181395m [env.py: 870] +05/11 21:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:43:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29348911 -1.03336057 -0.18139519] yaw=-45.5deg [env.py: 1019] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:43:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=412.1ms, total=412.2ms [env.py: 1075] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -1.033, -0.181) [env.py: 1079] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/11 21:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/11 21:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:43:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:43:40 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40 [pipeline.py: 1044] +05/11 21:43:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 21:43:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:43:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:43:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:43:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.845s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:43:42 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.691[m] 81.692[deg] [grasp_sample.py: 539] +05/11 21:43:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:43:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:43:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:43:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:44:05 INFO: [Worker 0] Worker 0 house 1 episode 219 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:44:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:44:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:44:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:44:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:44:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:44:32 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:44:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 21:44:32 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/11 21:44:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:44:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:44:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:44:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.67s (batch: 3.88s, save: 10.79s) [pipeline.py: 300] +05/11 21:44:48 INFO: [Worker 0] [PROFILE] Episode 219 house 1 success=True episode_total=0.79s: + episode_total: mean=185.93s, total=185.93s, count=1, min=185929.3ms, max=185929.3ms + sensor_polling: mean=469.1ms, total=127.58s, count=272, min=312.6ms, max=712.5ms + save_trajectories: mean=10.79s, total=10.79s, count=1, min=10790.1ms, max=10790.1ms + physics_step: mean=28.4ms, total=7.74s, count=272, min=19.7ms, max=85.8ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.7ms, max=3877.7ms + task_sampling: mean=793.3ms, total=793.3ms, count=1, min=793.3ms, max=793.3ms + task_specific_sample: mean=790.1ms, total=790.1ms, count=1, min=790.1ms, max=790.1ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=570.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=31.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:44:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:44:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:44:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141969m [env.py: 870] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=244.2ms, total=244.3ms [env.py: 1105] +05/11 21:44:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:44:49 ERROR: [Worker 0] Worker 0 house 1 episode 220 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:44:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 27.573s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:44:50 INFO: [Worker 0] Feasible grasp found 152 (originally 152): w/ 0.267[m] 19.979[deg] [grasp_sample.py: 539] +05/11 21:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:44:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:44:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:44:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:44:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129833m [env.py: 870] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23084746 -1.12722515 -0.12983303] yaw=-33.5deg [env.py: 1019] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:44:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=400.6ms, total=400.7ms [env.py: 1075] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.127, -0.130) [env.py: 1079] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.5 deg [env.py: 1082] +05/11 21:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:44:51 ERROR: [Worker 0] Worker 0 house 1 episode 208 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:44:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:44:52 INFO: [Worker 0] Worker 0 house 1 episode 221/240 collected=0/40 [pipeline.py: 1044] +05/11 21:44:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/11 21:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:44:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:44:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:44:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:44:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135187m [env.py: 870] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.62716521 -0.84057614 -0.13518656] yaw=-73.3deg [env.py: 1019] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=306.3ms, total=306.3ms [env.py: 1075] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.627, -0.841, -0.135) [env.py: 1079] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/11 21:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:44:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:44:54 INFO: [Worker 0] Worker 0 house 1 episode 209/240 collected=0/40 [pipeline.py: 1044] +05/11 21:44:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/11 21:44:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:44:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:44:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:44:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.848s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:44:55 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.737[m] 94.409[deg] [grasp_sample.py: 539] +05/11 21:44:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:44:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:44:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:44:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.126s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:44:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.770[m] 88.851[deg] [grasp_sample.py: 539] +05/11 21:44:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:44:58 ERROR: [Worker 0] Worker 0 house 1 episode 221 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:44:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:44:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:44:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:44:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:44:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:44:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:44:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158731m [env.py: 870] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:44:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44248873 -0.98465142 -0.15873086] yaw=-64.3deg [env.py: 1019] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45895337 -0.75709179 -0.15873086] yaw=-70.3deg [env.py: 1019] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31961265 -0.90260451 -0.15873086] yaw=-45.2deg [env.py: 1019] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:44:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.2ms [env.py: 1075] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -0.985, -0.159) [env.py: 1079] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg [env.py: 1082] +05/11 21:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:44:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:44:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:44:59 INFO: [Worker 0] Worker 0 house 1 episode 222/240 collected=0/40 [pipeline.py: 1044] +05/11 21:45:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 21:45:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:45:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:45:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:45:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.006s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:45:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.705[m] 95.906[deg] [grasp_sample.py: 539] +05/11 21:45:05 ERROR: [Worker 0] Worker 0 house 1 episode 222 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:45:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:45:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:45:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:45:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:45:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:45:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:45:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144873m [env.py: 870] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:45:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59633225 -0.83557623 -0.14487322] yaw=-73.3deg [env.py: 1019] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:45:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=272.7ms, total=272.8ms [env.py: 1075] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.836, -0.145) [env.py: 1079] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/11 21:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:45:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:45:07 INFO: [Worker 0] Worker 0 house 1 episode 223/240 collected=0/40 [pipeline.py: 1044] +05/11 21:45:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 21:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:45:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:45:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:45:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:45:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.547s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:45:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.739[m] 82.482[deg] [grasp_sample.py: 539] +05/11 21:45:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:45:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:45:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:25 INFO: [Worker 0] Object is not in grasp! 0.00138 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 21:45:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:45:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:45:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:45:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.186s, found 351 non-colliding grasps [grasp_sample.py: 465] +05/11 21:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.781s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:45:27 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.047[m] 8.186[deg] [grasp_sample.py: 539] +05/11 21:45:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:45:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:45:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:45:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:45:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:45:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:45:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:45:34 INFO: [Worker 0] Worker 0 house 1 episode 213 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:45:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.020s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:45:34 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.602[m] 67.620[deg] [grasp_sample.py: 539] +05/11 21:45:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:45:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:45:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:45:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:45:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:45:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:45:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:45:51 INFO: [Worker 0] Object is not in grasp! 0.00193 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 21:45:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:45:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:45:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:45:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 407 non-colliding grasps [grasp_sample.py: 465] +05/11 21:45:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.450s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:45:53 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.072[m] 9.637[deg] [grasp_sample.py: 539] +05/11 21:45:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:45:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:45:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.409s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:45:55 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.602[m] 67.620[deg] [grasp_sample.py: 539] +05/11 21:45:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:45:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:45:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:45:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:03 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:46:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 21:46:03 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/11 21:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:46:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:46:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:46:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:46:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:46:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:46:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.154s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:46:16 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.602[m] 67.620[deg] [grasp_sample.py: 539] +05/11 21:46:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:46:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:46:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:46:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:46:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:46:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 21.13s (batch: 4.32s, save: 16.81s) [pipeline.py: 300] +05/11 21:46:25 INFO: [Worker 0] [PROFILE] Episode 213 house 1 success=True episode_total=0.47s: + episode_total: mean=99.45s, total=198.89s, count=2, min=237.0ms, max=198654.4ms + sensor_polling: mean=465.2ms, total=129.80s, count=279, min=328.5ms, max=855.9ms + save_trajectories: mean=16.81s, total=16.81s, count=1, min=16806.1ms, max=16806.1ms + physics_step: mean=28.8ms, total=8.05s, count=279, min=16.2ms, max=77.4ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.3ms, max=4323.3ms + task_specific_sample: mean=352.2ms, total=704.4ms, count=2, min=232.7ms, max=471.8ms + task_sampling: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms + task_sampling_failed: mean=237.0ms, total=237.0ms, count=1, min=237.0ms, max=237.0ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.2ms + mj_forward_sync: mean=430.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:46:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:46:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:46:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:46:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:46:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:46:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:46:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100915m [env.py: 870] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:46:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=253.9ms, total=253.9ms [env.py: 1105] +05/11 21:46:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:46:27 ERROR: [Worker 0] Worker 0 house 1 episode 214 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:46:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:46:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:46:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:46:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:46:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:46:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:46:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126428m [env.py: 870] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:46:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39456136 -1.01752256 -0.12642846] yaw=-44.0deg [env.py: 1019] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:46:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.4ms, total=237.4ms [env.py: 1075] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.018, -0.126) [env.py: 1079] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg [env.py: 1082] +05/11 21:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:46:29 INFO: [Worker 0] Worker 0 house 1 episode 215/240 collected=0/40 [pipeline.py: 1044] +05/11 21:46:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.374s [base_object_manipulation_planner_policy.py: 377] +05/11 21:46:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:46:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:46:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.246s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:46:30 INFO: [Worker 0] Worker 0 house 1 episode 164 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:46:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.110s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:46:33 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.728[m] 83.629[deg] [grasp_sample.py: 539] +05/11 21:46:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:46:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:46:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:46:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:46:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.210s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:46:34 INFO: [Worker 0] Feasible grasp found 599 (originally 599): w/ 0.166[m] 12.598[deg] [grasp_sample.py: 539] +05/11 21:46:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:46:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:46:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:46:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:46:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:46:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:46:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:46:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:46:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:46:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:46:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 21:46:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.719s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:46:36 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.460[m] 23.508[deg] [grasp_sample.py: 539] +05/11 21:46:37 INFO: [Worker 0] Worker 0 house 1 episode 209 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 21:46:37 INFO: [Worker 0] [PROFILE] Episode 209 house 1 success=False episode_total=2.23s: + episode_total: mean=26.55s, total=265.55s, count=10, min=230.2ms, max=117487.1ms + sensor_polling: mean=445.4ms, total=120.27s, count=270, min=292.9ms, max=811.3ms + physics_step: mean=25.6ms, total=6.90s, count=270, min=13.0ms, max=65.1ms + task_specific_sample: mean=376.9ms, total=3.77s, count=10, min=226.8ms, max=617.0ms + task_sampling: mean=557.1ms, total=2.23s, count=4, min=441.9ms, max=620.2ms + task_sampling_failed: mean=262.9ms, total=1.58s, count=6, min=230.2ms, max=320.6ms + scene_randomize: mean=1.5ms, total=15.3ms, count=10, min=1.2ms, max=2.7ms + mj_forward_sync: mean=543.2us, total=5.4ms, count=10, min=0.4ms, max=0.8ms + policy_setup: mean=14.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:46:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:46:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:46:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:46:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:46:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:46:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:46:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:46:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:46:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:46:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:46:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:46:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147919m [env.py: 870] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:46:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3194711 -1.16492044 -0.14791894] yaw=-31.8deg [env.py: 1019] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:46:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=544.4ms, total=544.5ms [env.py: 1075] +05/11 21:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.165, -0.148) [env.py: 1079] +05/11 21:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg [env.py: 1082] +05/11 21:46:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/11 21:46:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:46:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:46:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:46:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:46:39 INFO: [Worker 0] Worker 0 house 1 episode 210/240 collected=0/40 [pipeline.py: 1044] +05/11 21:46:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 21:46:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:46:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:46:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:46:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.915s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:46:41 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.638[m] 85.293[deg] [grasp_sample.py: 539] +05/11 21:46:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:46:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:46:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:47:00 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:47:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 21:47:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 21:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:47:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.368s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:47:12 INFO: [Worker 0] Feasible grasp found 486 (originally 486): w/ 0.384[m] 16.485[deg] [grasp_sample.py: 539] +05/11 21:47:14 ERROR: [Worker 0] Worker 0 house 1 episode 223 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173163m [env.py: 870] +05/11 21:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=323.9ms, total=324.0ms [env.py: 1105] +05/11 21:47:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:47:16 ERROR: [Worker 0] Worker 0 house 1 episode 224 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:47:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:47:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:47:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.18s (batch: 5.05s, save: 12.13s) [pipeline.py: 300] +05/11 21:47:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106897m [env.py: 870] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55072551 -1.01289461 -0.10689676] yaw=-70.6deg [env.py: 1019] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=676.3ms, total=676.3ms [env.py: 1075] +05/11 21:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -1.013, -0.107) [env.py: 1079] +05/11 21:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/11 21:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/11 21:47:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:18 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=2.41s: + episode_total: mean=63.41s, total=317.06s, count=5, min=275.9ms, max=219027.9ms + sensor_polling: mean=464.2ms, total=206.09s, count=444, min=307.5ms, max=4711.9ms + physics_step: mean=28.1ms, total=12.46s, count=444, min=14.8ms, max=85.5ms + save_trajectories: mean=12.13s, total=12.13s, count=1, min=12128.5ms, max=12128.5ms + save_batch_prep: mean=5.05s, total=5.05s, count=1, min=5047.9ms, max=5047.9ms + task_specific_sample: mean=529.8ms, total=2.65s, count=5, min=259.4ms, max=678.3ms + task_sampling: mean=602.4ms, total=2.41s, count=4, min=540.0ms, max=681.2ms + task_sampling_failed: mean=275.9ms, total=275.9ms, count=1, min=275.9ms, max=275.9ms + scene_randomize: mean=2.5ms, total=12.3ms, count=5, min=1.2ms, max=6.5ms + mj_forward_sync: mean=635.1us, total=3.2ms, count=5, min=0.5ms, max=0.8ms + policy_setup: mean=14.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:47:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:18 INFO: [Worker 0] Worker 0 house 1 episode 225/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140434m [env.py: 870] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=257.7ms, total=257.8ms [env.py: 1105] +05/11 21:47:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:47:20 ERROR: [Worker 0] Worker 0 house 1 episode 165 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:47:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165688m [env.py: 870] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4740902 -0.90554243 -0.16568779] yaw=-62.7deg [env.py: 1019] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=300.1ms, total=300.2ms [env.py: 1075] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.906, -0.166) [env.py: 1079] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/11 21:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:22 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.499s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:47:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.713[m] 79.497[deg] [grasp_sample.py: 539] +05/11 21:47:26 ERROR: [Worker 0] Worker 0 house 1 episode 166 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:47:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119173m [env.py: 870] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47208554 -1.01592142 -0.11917301] yaw=-59.3deg [env.py: 1019] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.9ms, total=280.9ms [env.py: 1075] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.472, -1.016, -0.119) [env.py: 1079] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/11 21:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:27 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.677s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:47:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.704[m] 79.492[deg] [grasp_sample.py: 539] +05/11 21:47:30 ERROR: [Worker 0] Worker 0 house 1 episode 167 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:47:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159023m [env.py: 870] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6210357 -0.92333237 -0.15902265] yaw=-77.8deg [env.py: 1019] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.376s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:47:32 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.721[m] 87.601[deg] [grasp_sample.py: 539] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=300.9ms, total=301.0ms [env.py: 1075] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.923, -0.159) [env.py: 1079] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.8 deg [env.py: 1082] +05/11 21:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:32 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:34 ERROR: [Worker 0] Worker 0 house 1 episode 225 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121388m [env.py: 870] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=252.5ms, total=252.5ms [env.py: 1105] +05/11 21:47:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:47:35 ERROR: [Worker 0] Worker 0 house 1 episode 226 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:47:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127682m [env.py: 870] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41800396 -0.91421772 -0.12768196] yaw=-62.9deg [env.py: 1019] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29700994 -1.01780036 -0.12768196] yaw=-55.0deg [env.py: 1019] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3206447 -1.08328629 -0.12768196] yaw=-37.0deg [env.py: 1019] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=341.7ms, total=341.7ms [env.py: 1075] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.914, -0.128) [env.py: 1079] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/11 21:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:37 INFO: [Worker 0] Worker 0 house 1 episode 227/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.588s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:47:40 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.711[m] 88.768[deg] [grasp_sample.py: 539] +05/11 21:47:42 ERROR: [Worker 0] Worker 0 house 1 episode 168 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:47:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:47:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126922m [env.py: 870] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.988s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:47:43 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.759[m] 90.122[deg] [grasp_sample.py: 539] +05/11 21:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=950.7ms, total=950.7ms [env.py: 1105] +05/11 21:47:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:47:44 ERROR: [Worker 0] Worker 0 house 1 episode 169 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:47:45 ERROR: [Worker 0] Worker 0 house 1 episode 227 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:47:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196798m [env.py: 870] +05/11 21:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62995764 -0.83600365 -0.19679817] yaw=-80.2deg [env.py: 1019] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=402.1ms, total=402.2ms [env.py: 1075] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.630, -0.836, -0.197) [env.py: 1079] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.2 deg [env.py: 1082] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:46 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154421m [env.py: 870] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.164s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42116142 -0.79266614 -0.15442088] yaw=-60.8deg [env.py: 1019] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.68349791 -0.95392066 -0.15442088] yaw=-61.9deg [env.py: 1019] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25344315 -1.20126777 -0.15442088] yaw=-32.4deg [env.py: 1019] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=319.8ms, total=319.9ms [env.py: 1075] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -0.793, -0.154) [env.py: 1079] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg [env.py: 1082] +05/11 21:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/11 21:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:47 INFO: [Worker 0] Worker 0 house 1 episode 228/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:47:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.255s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:47:49 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.707[m] 83.225[deg] [grasp_sample.py: 539] +05/11 21:47:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.850s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:47:49 ERROR: [Worker 0] Worker 0 house 1 episode 228 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:47:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:47:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:47:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:47:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114407m [env.py: 870] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24522342 -0.93316095 -0.1144066 ] yaw=-57.5deg [env.py: 1019] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=345.5ms, total=345.6ms [env.py: 1075] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -0.933, -0.114) [env.py: 1079] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/11 21:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:51 INFO: [Worker 0] Worker 0 house 1 episode 229/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:47:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.016s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:47:53 ERROR: [Worker 0] Worker 0 house 1 episode 229 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:47:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:47:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:47:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:47:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:47:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:47:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115768m [env.py: 870] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:47:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23505148 -1.09089098 -0.1157679 ] yaw=-43.0deg [env.py: 1019] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44526824 -0.87604168 -0.1157679 ] yaw=-59.2deg [env.py: 1019] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20937128 -1.05866483 -0.1157679 ] yaw=-48.5deg [env.py: 1019] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:47:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.8ms, total=252.8ms [env.py: 1075] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.091, -0.116) [env.py: 1079] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/11 21:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:47:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:47:55 INFO: [Worker 0] Worker 0 house 1 episode 230/240 collected=0/40 [pipeline.py: 1044] +05/11 21:47:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 21:47:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:47:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:47:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:47:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:47:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:48:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:48:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 28.848s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:48:25 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.732[m] 93.635[deg] [grasp_sample.py: 539] +05/11 21:48:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:48:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:48:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:48:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:48:56 INFO: [Worker 0] Worker 0 house 1 episode 210 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:49:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:49:01 INFO: [Worker 0] Worker 0 house 1 episode 215 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:49:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:49:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 379 non-colliding grasps [grasp_sample.py: 465] +05/11 21:49:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:49:21 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.057[m] 9.978[deg] [grasp_sample.py: 539] +05/11 21:49:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:49:22 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:49:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 21:49:22 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/11 21:49:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:49:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:49:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:49:30 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:49:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 21:49:30 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/11 21:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:49:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:49:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.87s (batch: 3.68s, save: 10.18s) [pipeline.py: 300] +05/11 21:49:37 INFO: [Worker 0] [PROFILE] Episode 210 house 1 success=True episode_total=0.90s: + episode_total: mean=178.38s, total=178.38s, count=1, min=178382.7ms, max=178382.7ms + sensor_polling: mean=467.2ms, total=124.29s, count=266, min=315.7ms, max=887.8ms + save_trajectories: mean=10.18s, total=10.18s, count=1, min=10182.0ms, max=10182.0ms + physics_step: mean=30.4ms, total=8.09s, count=266, min=14.8ms, max=77.2ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3683.2ms, max=3683.2ms + task_sampling: mean=899.6ms, total=899.6ms, count=1, min=899.6ms, max=899.6ms + task_specific_sample: mean=894.6ms, total=894.6ms, count=1, min=894.6ms, max=894.6ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=579.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:49:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:49:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:49:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:49:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:49:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:49:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199272m [env.py: 870] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:49:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58123471 -0.84356266 -0.19927188] yaw=-58.0deg [env.py: 1019] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:49:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.9ms [env.py: 1075] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.844, -0.199) [env.py: 1079] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/11 21:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:49:38 INFO: [Worker 0] Worker 0 house 1 episode 211/240 collected=0/40 [pipeline.py: 1044] +05/11 21:49:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 21:49:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.588s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:49:44 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.723[m] 85.899[deg] [grasp_sample.py: 539] +05/11 21:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:49:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:49:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.74s (batch: 3.97s, save: 10.77s) [pipeline.py: 300] +05/11 21:49:45 INFO: [Worker 0] [PROFILE] Episode 215 house 1 success=True episode_total=0.60s: + episode_total: mean=98.51s, total=197.02s, count=2, min=286.0ms, max=196732.7ms + sensor_polling: mean=458.9ms, total=129.41s, count=282, min=309.4ms, max=875.0ms + save_trajectories: mean=10.77s, total=10.77s, count=1, min=10766.9ms, max=10766.9ms + physics_step: mean=30.8ms, total=8.69s, count=282, min=20.0ms, max=167.7ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3974.5ms, max=3974.5ms + task_specific_sample: mean=437.8ms, total=875.7ms, count=2, min=275.9ms, max=599.8ms + task_sampling: mean=602.6ms, total=602.6ms, count=1, min=602.6ms, max=602.6ms + task_sampling_failed: mean=286.0ms, total=286.0ms, count=1, min=286.0ms, max=286.0ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.0ms, max=3.9ms + mj_forward_sync: mean=574.3us, total=1.1ms, count=2, min=0.4ms, max=0.7ms + policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:49:46 ERROR: [Worker 0] Worker 0 house 1 episode 211 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:49:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:49:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:49:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:49:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:49:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:49:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148227m [env.py: 870] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:49:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59723705 -0.9032646 -0.14822746] yaw=-72.0deg [env.py: 1019] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25432455 -0.93167985 -0.14822746] yaw=-44.4deg [env.py: 1019] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.64534707 -0.91834232 -0.14822746] yaw=-64.9deg [env.py: 1019] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:49:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=221.3ms, total=221.3ms [env.py: 1075] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.597, -0.903, -0.148) [env.py: 1079] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg [env.py: 1082] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:49:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:49:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:49:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:49:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:49:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145035m [env.py: 870] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:49:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:49:47 INFO: [Worker 0] Worker 0 house 1 episode 216/240 collected=0/40 [pipeline.py: 1044] +05/11 21:49:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.5ms, total=213.6ms [env.py: 1105] +05/11 21:49:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:49:48 ERROR: [Worker 0] Worker 0 house 1 episode 212 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:49:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/11 21:49:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:49:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:49:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:49:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 405 non-colliding grasps [grasp_sample.py: 465] +05/11 21:49:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:49:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:49:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:49:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:49:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:49:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136655m [env.py: 870] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:49:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51291286 -0.86806614 -0.1366546 ] yaw=-61.4deg [env.py: 1019] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.660072 -0.93979296 -0.1366546 ] yaw=-64.1deg [env.py: 1019] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:49:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=255.0ms, total=255.0ms [env.py: 1075] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.868, -0.137) [env.py: 1079] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/11 21:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:49:50 INFO: [Worker 0] Worker 0 house 1 episode 213/240 collected=0/40 [pipeline.py: 1044] +05/11 21:49:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/11 21:49:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:49:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.460s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:49:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.688[m] 97.967[deg] [grasp_sample.py: 539] +05/11 21:49:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:49:52 ERROR: [Worker 0] Worker 0 house 1 episode 216 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:49:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:49:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187670m [env.py: 870] +05/11 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1256473 -1.05305714 -0.18766979] yaw=-47.3deg [env.py: 1019] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64173654 -0.83742598 -0.18766979] yaw=-68.5deg [env.py: 1019] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36240954 -0.88855442 -0.18766979] yaw=-64.2deg [env.py: 1019] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:49:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=231.9ms, total=231.9ms [env.py: 1075] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.053, -0.188) [env.py: 1079] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/11 21:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/11 21:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.836s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:49:54 INFO: [Worker 0] Feasible grasp found 601 (originally 601): w/ 0.066[m] 0.638[deg] [grasp_sample.py: 539] +05/11 21:49:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:49:54 INFO: [Worker 0] Worker 0 house 1 episode 217/240 collected=0/40 [pipeline.py: 1044] +05/11 21:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 21:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:49:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.475s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:49:54 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.773[m] 94.332[deg] [grasp_sample.py: 539] +05/11 21:49:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:49:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:49:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:49:55 ERROR: [Worker 0] Worker 0 house 1 episode 170 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:49:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:49:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.779s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:49:56 ERROR: [Worker 0] Worker 0 house 1 episode 217 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:49:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:49:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:49:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:49:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:49:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:49:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158950m [env.py: 870] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:49:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55442122 -0.92565909 -0.15894958] yaw=-66.4deg [env.py: 1019] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:49:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=297.6ms, total=297.7ms [env.py: 1075] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.926, -0.159) [env.py: 1079] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg [env.py: 1082] +05/11 21:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:49:57 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40 [pipeline.py: 1044] +05/11 21:49:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 21:49:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:49:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:49:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:49:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:49:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:49:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102983m [env.py: 870] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:49:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:49:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5123153 -1.05982871 -0.10298288] yaw=-48.2deg [env.py: 1019] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49560087 -0.89893797 -0.10298288] yaw=-52.4deg [env.py: 1019] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60355013 -0.73267951 -0.10298288] yaw=-61.2deg [env.py: 1019] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:49:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=382.1ms, total=382.1ms [env.py: 1075] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -1.060, -0.103) [env.py: 1079] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/11 21:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:49:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:49:58 INFO: [Worker 0] Worker 0 house 1 episode 218/240 collected=0/40 [pipeline.py: 1044] +05/11 21:49:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 21:49:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:49:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:49:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:50:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.961s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:50:03 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.671[m] 90.114[deg] [grasp_sample.py: 539] +05/11 21:50:04 ERROR: [Worker 0] Worker 0 house 1 episode 171 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:50:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:50:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:50:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:50:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:50:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:50:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:50:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174286m [env.py: 870] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:50:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2269953 -1.0688936 -0.17428648] yaw=-33.5deg [env.py: 1019] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:50:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=401.4ms, total=401.4ms [env.py: 1075] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.069, -0.174) [env.py: 1079] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.5 deg [env.py: 1082] +05/11 21:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:50:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:50:06 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40 [pipeline.py: 1044] +05/11 21:50:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 21:50:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:50:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:50:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:50:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.740s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:50:10 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.693[m] 81.558[deg] [grasp_sample.py: 539] +05/11 21:50:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.468s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:50:10 INFO: [Worker 0] Feasible grasp found 497 (originally 497): w/ 0.736[m] 84.121[deg] [grasp_sample.py: 539] +05/11 21:50:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:50:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:50:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:50:12 ERROR: [Worker 0] Worker 0 house 1 episode 172 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:50:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:50:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:50:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:50:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:50:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:50:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:50:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:50:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:50:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122245m [env.py: 870] +05/11 21:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:50:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=507.5ms, total=507.6ms [env.py: 1105] +05/11 21:50:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:50:14 ERROR: [Worker 0] Worker 0 house 1 episode 173 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:50:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:50:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:50:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:50:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:50:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:50:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:50:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192831m [env.py: 870] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:50:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28184273 -0.98348905 -0.19283055] yaw=-43.3deg [env.py: 1019] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.64554091 -0.92602874 -0.19283055] yaw=-62.9deg [env.py: 1019] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:50:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=323.6ms, total=323.7ms [env.py: 1075] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -0.983, -0.193) [env.py: 1079] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/11 21:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/11 21:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:50:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:50:16 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40 [pipeline.py: 1044] +05/11 21:50:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 21:50:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:50:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:50:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:50:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.696s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:50:20 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.758[m] 87.712[deg] [grasp_sample.py: 539] +05/11 21:50:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:50:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:50:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:50:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:50:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:50:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:50:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:50:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:50:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:50:49 INFO: [Worker 0] Worker 0 house 1 episode 230 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:50:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.431s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:50:56 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.509[m] 55.847[deg] [grasp_sample.py: 539] +05/11 21:50:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:50:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:50:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:51:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:16 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:51:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 21:51:16 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/11 21:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.741s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:51:18 INFO: [Worker 0] Feasible grasp found 377 (originally 377): w/ 0.127[m] 16.212[deg] [grasp_sample.py: 539] +05/11 21:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.387s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:51:18 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.521[m] 55.566[deg] [grasp_sample.py: 539] +05/11 21:51:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:51:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:51:20 ERROR: [Worker 0] Worker 0 house 1 episode 218 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:51:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:51:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:51:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156003m [env.py: 870] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28711448 -0.95501032 -0.15600256] yaw=-58.4deg [env.py: 1019] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.2ms, total=257.3ms [env.py: 1075] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -0.955, -0.156) [env.py: 1079] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg [env.py: 1082] +05/11 21:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:51:22 INFO: [Worker 0] Worker 0 house 1 episode 219/240 collected=0/40 [pipeline.py: 1044] +05/11 21:51:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 21:51:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:51:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:51:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:51:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:51:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.34s (batch: 4.07s, save: 11.27s) [pipeline.py: 300] +05/11 21:51:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:51:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.090s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:51:32 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.725[m] 97.521[deg] [grasp_sample.py: 539] +05/11 21:51:32 INFO: [Worker 0] [PROFILE] Episode 230 house 1 success=True episode_total=5.05s: + episode_total: mean=35.24s, total=387.62s, count=11, min=259.2ms, max=216969.4ms + sensor_polling: mean=476.8ms, total=226.46s, count=475, min=300.0ms, max=6390.8ms + physics_step: mean=28.5ms, total=13.52s, count=475, min=19.9ms, max=202.3ms + save_trajectories: mean=11.27s, total=11.27s, count=1, min=11267.1ms, max=11267.1ms + task_specific_sample: mean=533.5ms, total=5.87s, count=11, min=252.1ms, max=1181.3ms + task_sampling: mean=631.5ms, total=5.05s, count=8, min=361.9ms, max=1184.9ms + save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.0ms, max=4071.0ms + task_sampling_failed: mean=285.3ms, total=856.0ms, count=3, min=259.1ms, max=334.0ms + scene_randomize: mean=1.5ms, total=17.0ms, count=11, min=1.0ms, max=3.1ms + mj_forward_sync: mean=566.2us, total=6.2ms, count=11, min=0.4ms, max=0.7ms + policy_setup: mean=14.7us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:51:33 ERROR: [Worker 0] Worker 0 house 1 episode 219 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:51:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:51:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:51:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:51:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:51:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:51:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:51:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127474m [env.py: 870] +05/11 21:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:51:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32914529 -1.1934834 -0.12747372] yaw=-38.6deg [env.py: 1019] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.0ms, total=268.0ms [env.py: 1075] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.193, -0.127) [env.py: 1079] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.6 deg [env.py: 1082] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:51:34 INFO: [Worker 0] Worker 0 house 1 episode 231/240 collected=0/40 [pipeline.py: 1044] +05/11 21:51:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 21:51:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:51:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:51:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:51:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:51:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:51:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172884m [env.py: 870] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:51:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26187733 -0.9464316 -0.17288365] yaw=-44.7deg [env.py: 1019] +05/11 21:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:51:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=384.4ms, total=384.4ms [env.py: 1075] +05/11 21:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -0.946, -0.173) [env.py: 1079] +05/11 21:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg [env.py: 1082] +05/11 21:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/11 21:51:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:51:35 INFO: [Worker 0] Worker 0 house 1 episode 220/240 collected=0/40 [pipeline.py: 1044] +05/11 21:51:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 21:51:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.714s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:51:37 ERROR: [Worker 0] Worker 0 house 1 episode 220 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:51:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:51:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:51:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:51:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:51:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:51:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:51:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149936m [env.py: 870] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:51:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55755201 -0.93245592 -0.14993583] yaw=-70.3deg [env.py: 1019] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:51:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=245.5ms, total=245.6ms [env.py: 1075] +05/11 21:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.932, -0.150) [env.py: 1079] +05/11 21:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg [env.py: 1082] +05/11 21:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/11 21:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:51:39 INFO: [Worker 0] Worker 0 house 1 episode 221/240 collected=0/40 [pipeline.py: 1044] +05/11 21:51:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 21:51:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:51:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.049s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:51:40 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.677[m] 84.898[deg] [grasp_sample.py: 539] +05/11 21:51:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.459s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:51:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.676[m] 90.006[deg] [grasp_sample.py: 539] +05/11 21:51:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:51:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:51:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:51:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:51:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:51:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:51:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:51:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:51:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:51:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.294s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:51:44 INFO: [Worker 0] Feasible grasp found 466 (originally 466): w/ 0.298[m] 26.953[deg] [grasp_sample.py: 539] +05/11 21:51:45 ERROR: [Worker 0] Worker 0 house 1 episode 213 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:51:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:51:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:51:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:51:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:51:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:51:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162374m [env.py: 870] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:51:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=331.6ms, total=331.6ms [env.py: 1105] +05/11 21:51:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:51:47 ERROR: [Worker 0] Worker 0 house 1 episode 214 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:51:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:51:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:51:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:51:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:51:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:51:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:51:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191950m [env.py: 870] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:51:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=255.8ms, total=255.9ms [env.py: 1105] +05/11 21:51:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:51:49 ERROR: [Worker 0] Worker 0 house 1 episode 215 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:51:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:51:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:51:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:51:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:51:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:51:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135545m [env.py: 870] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:51:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30240809 -1.15827073 -0.13554498] yaw=-42.0deg [env.py: 1019] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:51:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.0ms, total=226.0ms [env.py: 1075] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.158, -0.136) [env.py: 1079] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/11 21:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:51:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:51:51 INFO: [Worker 0] Worker 0 house 1 episode 216/240 collected=0/40 [pipeline.py: 1044] +05/11 21:51:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 21:51:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:51:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:51:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:51:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.760s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:51:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 83.215[deg] [grasp_sample.py: 539] +05/11 21:51:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:51:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:51:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:52:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:52:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:52:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:52:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:52:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:52:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:52:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.959s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:52:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.497[m] 61.722[deg] [grasp_sample.py: 539] +05/11 21:52:18 ERROR: [Worker 0] Worker 0 house 1 episode 221 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187545m [env.py: 870] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.8ms, total=225.8ms [env.py: 1105] +05/11 21:52:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:52:20 ERROR: [Worker 0] Worker 0 house 1 episode 222 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:52:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116472m [env.py: 870] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55110343 -0.74696964 -0.11647199] yaw=-57.0deg [env.py: 1019] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46867254 -0.92005963 -0.11647199] yaw=-56.7deg [env.py: 1019] +05/11 21:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:52:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=671.5ms, total=671.5ms [env.py: 1075] +05/11 21:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -0.747, -0.116) [env.py: 1079] +05/11 21:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/11 21:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/11 21:52:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:52:22 INFO: [Worker 0] Worker 0 house 1 episode 223/240 collected=0/40 [pipeline.py: 1044] +05/11 21:52:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 21:52:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:52:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:52:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:52:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.792s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:52:24 ERROR: [Worker 0] Worker 0 house 1 episode 223 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:52:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150634m [env.py: 870] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2678874 -0.87355818 -0.15063419] yaw=-40.2deg [env.py: 1019] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:52:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.0ms, total=208.0ms [env.py: 1075] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -0.874, -0.151) [env.py: 1079] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/11 21:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/11 21:52:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:52:26 INFO: [Worker 0] Worker 0 house 1 episode 224/240 collected=0/40 [pipeline.py: 1044] +05/11 21:52:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 21:52:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:52:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:52:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:52:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.870s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:52:28 ERROR: [Worker 0] Worker 0 house 1 episode 224 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:52:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110589m [env.py: 870] +05/11 21:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=350.8ms, total=350.8ms [env.py: 1105] +05/11 21:52:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:52:30 ERROR: [Worker 0] Worker 0 house 1 episode 225 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:52:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146667m [env.py: 870] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32003497 -1.09087685 -0.14666662] yaw=-40.4deg [env.py: 1019] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26083771 -1.01809409 -0.14666662] yaw=-46.5deg [env.py: 1019] +05/11 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:52:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=285.2ms, total=285.3ms [env.py: 1075] +05/11 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -1.091, -0.147) [env.py: 1079] +05/11 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg [env.py: 1082] +05/11 21:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/11 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:52:32 INFO: [Worker 0] Worker 0 house 1 episode 226/240 collected=0/40 [pipeline.py: 1044] +05/11 21:52:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 21:52:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:52:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:52:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:52:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.702s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:52:38 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.733[m] 87.246[deg] [grasp_sample.py: 539] +05/11 21:52:38 INFO: [Worker 0] Worker 0 house 1 episode 174 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:52:39 ERROR: [Worker 0] Worker 0 house 1 episode 226 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191505m [env.py: 870] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19368422 -0.966657 -0.19150511] yaw=-53.0deg [env.py: 1019] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=1.4ms, retries=517.8ms, total=519.3ms [env.py: 1075] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -0.967, -0.192) [env.py: 1079] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/11 21:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:52:41 INFO: [Worker 0] Worker 0 house 1 episode 227/240 collected=0/40 [pipeline.py: 1044] +05/11 21:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 21:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:52:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:52:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:52:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:52:43 ERROR: [Worker 0] Worker 0 house 1 episode 227 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:52:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118788m [env.py: 870] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=458.2ms, total=458.3ms [env.py: 1105] +05/11 21:52:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:52:45 ERROR: [Worker 0] Worker 0 house 1 episode 228 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:52:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:52:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:52:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:52:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:52:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:52:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125030m [env.py: 870] +05/11 21:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:52:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37484665 -0.95795631 -0.12503022] yaw=-64.4deg [env.py: 1019] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36203335 -1.09586406 -0.12503022] yaw=-43.2deg [env.py: 1019] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:52:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=220.1ms, total=220.2ms [env.py: 1075] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -0.958, -0.125) [env.py: 1079] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/11 21:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/11 21:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:52:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:52:47 INFO: [Worker 0] Worker 0 house 1 episode 229/240 collected=0/40 [pipeline.py: 1044] +05/11 21:52:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 21:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:52:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:52:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:52:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.179s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:52:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.726[m] 82.347[deg] [grasp_sample.py: 539] +05/11 21:52:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:52:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:52:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:52:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:52:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:52:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:53:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:53:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:53:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:53:09 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:53:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 21:53:09 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/11 21:53:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:53:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:53:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:53:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.15s (batch: 4.35s, save: 11.80s) [pipeline.py: 300] +05/11 21:53:26 INFO: [Worker 0] [PROFILE] Episode 174 house 1 success=True episode_total=4.15s: + episode_total: mean=35.26s, total=352.57s, count=10, min=273.2ms, max=190315.6ms + sensor_polling: mean=450.0ms, total=208.81s, count=464, min=295.0ms, max=759.1ms + physics_step: mean=27.7ms, total=12.88s, count=464, min=20.1ms, max=75.2ms + save_trajectories: mean=11.80s, total=11.80s, count=1, min=11798.4ms, max=11798.4ms + task_specific_sample: mean=587.1ms, total=5.87s, count=10, min=266.5ms, max=955.7ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4349.6ms, max=4349.6ms + task_sampling: mean=593.4ms, total=4.15s, count=7, min=481.6ms, max=714.5ms + task_sampling_failed: mean=584.7ms, total=1.75s, count=3, min=273.1ms, max=962.8ms + scene_randomize: mean=1.5ms, total=14.7ms, count=10, min=0.9ms, max=4.2ms + mj_forward_sync: mean=473.6us, total=4.7ms, count=10, min=0.4ms, max=0.7ms + policy_setup: mean=14.1us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:53:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:53:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:53:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:53:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:53:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:53:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:53:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150507m [env.py: 870] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:53:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33772583 -1.10326337 -0.15050685] yaw=-53.0deg [env.py: 1019] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53807039 -0.77651571 -0.15050685] yaw=-75.3deg [env.py: 1019] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:53:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.9ms, total=238.9ms [env.py: 1075] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.103, -0.151) [env.py: 1079] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/11 21:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:53:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:53:28 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40 [pipeline.py: 1044] +05/11 21:53:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 21:53:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:53:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:53:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:53:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.825s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:53:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.685[m] 74.698[deg] [grasp_sample.py: 539] +05/11 21:53:31 ERROR: [Worker 0] Worker 0 house 1 episode 175 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:53:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:53:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:53:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:53:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:53:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:53:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:53:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197959m [env.py: 870] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:53:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42759062 -0.90917435 -0.19795851] yaw=-57.9deg [env.py: 1019] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:53:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.0ms, total=239.1ms [env.py: 1075] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -0.909, -0.198) [env.py: 1079] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/11 21:53:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:53:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:53:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:53:33 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40 [pipeline.py: 1044] +05/11 21:53:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 21:53:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:53:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:53:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:53:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.789s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:53:44 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.690[m] 81.296[deg] [grasp_sample.py: 539] +05/11 21:53:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:53:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:53:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:53:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:03 INFO: [Worker 0] Worker 0 house 1 episode 231 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:54:05 INFO: [Worker 0] Worker 0 house 1 episode 216 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:54:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:54:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:54:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:54:30 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:54:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 21:54:30 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/11 21:54:31 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:54:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 21:54:31 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/11 21:54:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:54:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:54:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.91s (batch: 3.88s, save: 10.03s) [pipeline.py: 300] +05/11 21:54:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:54:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:54:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.62s (batch: 3.37s, save: 10.25s) [pipeline.py: 300] +05/11 21:54:45 INFO: [Worker 0] [PROFILE] Episode 231 house 1 success=True episode_total=0.57s: + episode_total: mean=191.23s, total=191.23s, count=1, min=191230.6ms, max=191230.6ms + sensor_polling: mean=471.2ms, total=129.59s, count=275, min=356.5ms, max=724.8ms + save_trajectories: mean=10.03s, total=10.03s, count=1, min=10033.7ms, max=10033.7ms + physics_step: mean=27.5ms, total=7.55s, count=275, min=19.7ms, max=87.0ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.9ms, max=3877.9ms + task_sampling: mean=567.2ms, total=567.2ms, count=1, min=567.2ms, max=567.2ms + task_specific_sample: mean=563.5ms, total=563.5ms, count=1, min=563.5ms, max=563.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=426.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:54:45 INFO: [Worker 0] [PROFILE] Episode 216 house 1 success=True episode_total=1.55s: + episode_total: mean=49.83s, total=298.96s, count=6, min=225.0ms, max=174222.9ms + sensor_polling: mean=444.5ms, total=189.34s, count=426, min=313.6ms, max=725.5ms + physics_step: mean=27.5ms, total=11.72s, count=426, min=17.5ms, max=68.0ms + save_trajectories: mean=10.25s, total=10.25s, count=1, min=10252.9ms, max=10252.9ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3365.6ms, max=3365.6ms + task_specific_sample: mean=394.0ms, total=2.36s, count=6, min=220.1ms, max=583.7ms + task_sampling: mean=517.3ms, total=1.55s, count=3, min=472.2ms, max=586.5ms + task_sampling_failed: mean=278.4ms, total=835.2ms, count=3, min=225.0ms, max=343.1ms + scene_randomize: mean=1.6ms, total=9.3ms, count=6, min=1.2ms, max=2.3ms + mj_forward_sync: mean=545.2us, total=3.3ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=20.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:54:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:54:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:54:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:54:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:54:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:54:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167585m [env.py: 870] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:54:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.8ms, total=191.8ms [env.py: 1105] +05/11 21:54:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:54:46 ERROR: [Worker 0] Worker 0 house 1 episode 232 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:54:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:54:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:54:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:54:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:54:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:54:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152823m [env.py: 870] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:54:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55509387 -0.72429412 -0.15282266] yaw=-57.3deg [env.py: 1019] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:54:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.9ms, total=225.9ms [env.py: 1075] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.724, -0.153) [env.py: 1079] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/11 21:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:54:47 INFO: [Worker 0] Worker 0 house 1 episode 217/240 collected=0/40 [pipeline.py: 1044] +05/11 21:54:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 21:54:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:54:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:54:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:54:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:54:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175564m [env.py: 870] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31212153 -0.90484895 -0.17556351] yaw=-47.2deg [env.py: 1019] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13478924 -1.12019981 -0.17556351] yaw=-29.3deg [env.py: 1019] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=224.0ms, total=224.1ms [env.py: 1075] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -0.905, -0.176) [env.py: 1079] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/11 21:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:54:48 INFO: [Worker 0] Worker 0 house 1 episode 233/240 collected=0/40 [pipeline.py: 1044] +05/11 21:54:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 21:54:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:54:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:54:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:54:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:54:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:54:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:54:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:54:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.696s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:54:49 ERROR: [Worker 0] Worker 0 house 1 episode 217 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:54:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.672s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:54:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.144[m] 10.819[deg] [grasp_sample.py: 539] +05/11 21:54:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:54:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:54:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:54:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:54:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:54:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:54:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:54:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:54:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129512m [env.py: 870] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:54:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29056181 -0.99766278 -0.12951214] yaw=-48.1deg [env.py: 1019] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:54:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.8ms, total=273.9ms [env.py: 1075] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -0.998, -0.130) [env.py: 1079] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/11 21:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:54:51 INFO: [Worker 0] Worker 0 house 1 episode 218/240 collected=0/40 [pipeline.py: 1044] +05/11 21:54:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 21:54:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:54:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:54:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.490s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:54:52 ERROR: [Worker 0] Worker 0 house 1 episode 233 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 21:54:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.618s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:54:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.743[m] 83.814[deg] [grasp_sample.py: 539] +05/11 21:54:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:54:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:54:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:54:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:54:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:54:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:54:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143820m [env.py: 870] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:54:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:54:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3353567 -1.11976002 -0.1438203 ] yaw=-34.0deg [env.py: 1019] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:54:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=387.4ms, total=387.5ms [env.py: 1075] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.120, -0.144) [env.py: 1079] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.0 deg [env.py: 1082] +05/11 21:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:54:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:54:54 INFO: [Worker 0] Worker 0 house 1 episode 234/240 collected=0/40 [pipeline.py: 1044] +05/11 21:54:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 21:54:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:54:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:54:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.459s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:54:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.722[m] 81.162[deg] [grasp_sample.py: 539] +05/11 21:54:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:54:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:54:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:55:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:55:13 INFO: [Worker 0] Worker 0 house 1 episode 229 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:55:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:55:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:55:38 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:55:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 21:55:38 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/11 21:55:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:55:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:55:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.44s (batch: 4.23s, save: 11.21s) [pipeline.py: 300] +05/11 21:55:55 INFO: [Worker 0] [PROFILE] Episode 229 house 1 success=True episode_total=6.57s: + episode_total: mean=24.88s, total=348.28s, count=14, min=234.7ms, max=188168.1ms + sensor_polling: mean=435.0ms, total=171.40s, count=394, min=313.5ms, max=667.0ms + save_trajectories: mean=11.21s, total=11.21s, count=1, min=11208.0ms, max=11208.0ms + physics_step: mean=26.2ms, total=10.34s, count=394, min=14.7ms, max=58.8ms + task_specific_sample: mean=542.1ms, total=7.59s, count=14, min=231.1ms, max=909.0ms + task_sampling: mean=597.2ms, total=6.57s, count=11, min=398.5ms, max=912.3ms + save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4233.3ms, max=4233.3ms + task_sampling_failed: mean=355.4ms, total=1.07s, count=3, min=234.7ms, max=469.3ms + scene_randomize: mean=1.3ms, total=18.8ms, count=14, min=0.9ms, max=3.0ms + mj_forward_sync: mean=505.2us, total=7.1ms, count=14, min=0.4ms, max=0.6ms + policy_setup: mean=15.2us, total=0.2ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:55:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:55:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:55:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:55:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:55:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120220m [env.py: 870] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=209.7ms, total=209.8ms [env.py: 1105] +05/11 21:55:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:55:56 ERROR: [Worker 0] Worker 0 house 1 episode 230 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:55:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:55:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:55:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:55:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:55:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:55:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:55:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160062m [env.py: 870] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:55:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40252728 -1.08165434 -0.16006179] yaw=-51.9deg [env.py: 1019] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:55:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=250.4ms, total=250.4ms [env.py: 1075] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.082, -0.160) [env.py: 1079] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/11 21:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:55:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:55:58 INFO: [Worker 0] Worker 0 house 1 episode 231/240 collected=0/40 [pipeline.py: 1044] +05/11 21:55:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 21:55:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:55:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:55:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:56:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.942s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:56:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.631[m] 87.697[deg] [grasp_sample.py: 539] +05/11 21:56:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:56:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:56:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:56:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:56:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:56:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:56:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:56:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:56:22 INFO: [Worker 0] Worker 0 house 1 episode 176 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:56:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:56:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 21:56:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:56:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:56:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:56:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/11 21:56:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.882s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:56:41 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.037[m] 5.548[deg] [grasp_sample.py: 539] +05/11 21:56:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:56:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:56:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:56:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:56:52 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:56:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 21:56:52 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/11 21:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:56:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:56:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:56:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:57:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:57:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:57:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:57:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:57:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.596s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:57:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.177[m] 24.182[deg] [grasp_sample.py: 539] +05/11 21:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:57:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:57:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:57:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:57:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:57:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.83s (batch: 3.79s, save: 11.04s) [pipeline.py: 300] +05/11 21:57:08 INFO: [Worker 0] [PROFILE] Episode 176 house 1 success=True episode_total=1.09s: + episode_total: mean=109.57s, total=219.14s, count=2, min=4058.6ms, max=215084.3ms + sensor_polling: mean=429.4ms, total=121.96s, count=284, min=272.4ms, max=749.6ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11039.1ms, max=11039.1ms + physics_step: mean=27.0ms, total=7.66s, count=284, min=13.4ms, max=101.4ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3789.1ms, max=3789.1ms + task_sampling: mean=545.1ms, total=1.09s, count=2, min=514.6ms, max=575.6ms + task_specific_sample: mean=541.9ms, total=1.08s, count=2, min=511.9ms, max=571.9ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=397.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:57:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:57:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:57:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:57:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:57:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:57:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:57:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172052m [env.py: 870] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:57:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42225029 -1.05419212 -0.17205193] yaw=-49.0deg [env.py: 1019] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38421495 -0.99984226 -0.17205193] yaw=-61.5deg [env.py: 1019] +05/11 21:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:57:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=241.4ms, total=241.5ms [env.py: 1075] +05/11 21:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -1.054, -0.172) [env.py: 1079] +05/11 21:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/11 21:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/11 21:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:57:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:57:10 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40 [pipeline.py: 1044] +05/11 21:57:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 21:57:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:57:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:57:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:57:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.737s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:57:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.631[m] 87.151[deg] [grasp_sample.py: 539] +05/11 21:57:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:57:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:57:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:57:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:57:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:57:21 INFO: [Worker 0] Worker 0 house 1 episode 218 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:57:21 INFO: [Worker 0] Worker 0 house 1 episode 234 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:57:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:57:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:57:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 21:57:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:57:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:57:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:57:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 335 non-colliding grasps [grasp_sample.py: 465] +05/11 21:57:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.171s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:57:47 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.123[m] 5.273[deg] [grasp_sample.py: 539] +05/11 21:57:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:57:48 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:57:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 21:57:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 21:57:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:57:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:57:49 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:57:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 21:57:49 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/11 21:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:57:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:57:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:57:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:57:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.074s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:01 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.133[m] 27.845[deg] [grasp_sample.py: 539] +05/11 21:58:02 ERROR: [Worker 0] Worker 0 house 1 episode 231 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:58:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:58:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:58:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.03s (batch: 4.17s, save: 9.86s) [pipeline.py: 300] +05/11 21:58:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:58:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:58:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.11s (batch: 4.08s, save: 11.04s) [pipeline.py: 300] +05/11 21:58:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123877m [env.py: 870] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65719316 -0.91503622 -0.12387692] yaw=-74.0deg [env.py: 1019] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:04 INFO: [Worker 0] [PROFILE] Episode 234 house 1 success=True episode_total=1.15s: + episode_total: mean=64.94s, total=194.81s, count=3, min=216.4ms, max=190383.2ms + sensor_polling: mean=468.9ms, total=132.22s, count=282, min=343.5ms, max=716.6ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.1ms, max=9863.1ms + physics_step: mean=27.3ms, total=7.71s, count=282, min=19.7ms, max=72.5ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.5ms, max=4165.5ms + task_specific_sample: mean=446.8ms, total=1.34s, count=3, min=197.8ms, max=641.4ms + task_sampling: mean=574.5ms, total=1.15s, count=2, min=504.3ms, max=644.8ms + task_sampling_failed: mean=216.4ms, total=216.4ms, count=1, min=216.4ms, max=216.4ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.7ms + mj_forward_sync: mean=538.9us, total=1.6ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=15.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=296.1ms, total=296.2ms [env.py: 1075] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.657, -0.915, -0.124) [env.py: 1079] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg [env.py: 1082] +05/11 21:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:04 INFO: [Worker 0] Worker 0 house 1 episode 232/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:04 INFO: [Worker 0] [PROFILE] Episode 218 house 1 success=True episode_total=1.11s: + episode_total: mean=98.07s, total=196.14s, count=2, min=2450.9ms, max=193693.9ms + sensor_polling: mean=447.2ms, total=134.15s, count=300, min=310.4ms, max=689.2ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11036.9ms, max=11036.9ms + physics_step: mean=28.6ms, total=8.57s, count=300, min=19.8ms, max=68.1ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.7ms, max=4075.7ms + task_sampling: mean=553.1ms, total=1.11s, count=2, min=529.2ms, max=577.0ms + task_specific_sample: mean=549.1ms, total=1.10s, count=2, min=524.4ms, max=573.8ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.5ms, max=3.1ms + mj_forward_sync: mean=485.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:58:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161711m [env.py: 870] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=216.2ms, total=216.2ms [env.py: 1105] +05/11 21:58:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:58:06 ERROR: [Worker 0] Worker 0 house 1 episode 235 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:58:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198453m [env.py: 870] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=247.5ms, total=247.6ms [env.py: 1105] +05/11 21:58:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:58:06 ERROR: [Worker 0] Worker 0 house 1 episode 219 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:58:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.159s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.659[m] 94.847[deg] [grasp_sample.py: 539] +05/11 21:58:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122625m [env.py: 870] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50808629 -0.88030168 -0.12262477] yaw=-56.4deg [env.py: 1019] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37833526 -0.85925301 -0.12262477] yaw=-59.8deg [env.py: 1019] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=287.1ms, total=287.1ms [env.py: 1075] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.880, -0.123) [env.py: 1079] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/11 21:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:08 INFO: [Worker 0] Worker 0 house 1 episode 236/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146236m [env.py: 870] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40378421 -0.94477069 -0.14623609] yaw=-63.4deg [env.py: 1019] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44156586 -0.76245932 -0.14623609] yaw=-57.6deg [env.py: 1019] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=291.2ms, total=291.2ms [env.py: 1075] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.945, -0.146) [env.py: 1079] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/11 21:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:58:08 ERROR: [Worker 0] Worker 0 house 1 episode 232 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:58:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:08 INFO: [Worker 0] Worker 0 house 1 episode 220/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187869m [env.py: 870] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3675936 -0.91629921 -0.18786926] yaw=-58.1deg [env.py: 1019] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=278.3ms, total=278.4ms [env.py: 1075] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -0.916, -0.188) [env.py: 1079] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/11 21:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.173s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.742[m] 95.576[deg] [grasp_sample.py: 539] +05/11 21:58:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:10 INFO: [Worker 0] Worker 0 house 1 episode 233/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.914s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.748[m] 79.517[deg] [grasp_sample.py: 539] +05/11 21:58:12 ERROR: [Worker 0] Worker 0 house 1 episode 236 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:58:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.539s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.704[m] 78.970[deg] [grasp_sample.py: 539] +05/11 21:58:12 ERROR: [Worker 0] Worker 0 house 1 episode 220 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:58:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184805m [env.py: 870] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.63928587 -0.90631214 -0.18480504] yaw=-62.3deg [env.py: 1019] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=336.3ms, total=336.3ms [env.py: 1075] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.906, -0.185) [env.py: 1079] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/11 21:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145294m [env.py: 870] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:14 ERROR: [Worker 0] Worker 0 house 1 episode 233 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:58:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:14 INFO: [Worker 0] Worker 0 house 1 episode 237/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=313.5ms, total=313.6ms [env.py: 1105] +05/11 21:58:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:58:14 ERROR: [Worker 0] Worker 0 house 1 episode 221 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:58:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.679[m] 92.141[deg] [grasp_sample.py: 539] +05/11 21:58:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:58:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:58:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:58:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178148m [env.py: 870] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51497966 -1.02826511 -0.178148 ] yaw=-47.5deg [env.py: 1019] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125125m [env.py: 870] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=245.8ms, total=245.9ms [env.py: 1075] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -1.028, -0.178) [env.py: 1079] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/11 21:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48312299 -0.81548465 -0.12512499] yaw=-52.7deg [env.py: 1019] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=244.9ms, total=245.0ms [env.py: 1075] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.815, -0.125) [env.py: 1079] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/11 21:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/11 21:58:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:16 INFO: [Worker 0] Worker 0 house 1 episode 234/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:16 INFO: [Worker 0] Worker 0 house 1 episode 222/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.780s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.652[m] 90.226[deg] [grasp_sample.py: 539] +05/11 21:58:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:58:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:58:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:58:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.562s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:58:18 ERROR: [Worker 0] Worker 0 house 1 episode 222 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:58:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:58:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165825m [env.py: 870] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34990957 -1.10057422 -0.16582464] yaw=-42.1deg [env.py: 1019] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48597122 -0.88866372 -0.16582464] yaw=-64.3deg [env.py: 1019] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.4ms [env.py: 1075] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.101, -0.166) [env.py: 1079] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/11 21:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:20 INFO: [Worker 0] Worker 0 house 1 episode 223/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:58:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.419s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:26 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.698[m] 81.547[deg] [grasp_sample.py: 539] +05/11 21:58:28 ERROR: [Worker 0] Worker 0 house 1 episode 223 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 21:58:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170401m [env.py: 870] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=270.5ms, total=270.6ms [env.py: 1105] +05/11 21:58:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:58:30 ERROR: [Worker 0] Worker 0 house 1 episode 224 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:58:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:58:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:58:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:58:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:58:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:58:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140374m [env.py: 870] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:58:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59585588 -0.97225966 -0.14037448] yaw=-66.7deg [env.py: 1019] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:58:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=306.0ms, total=306.1ms [env.py: 1075] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.972, -0.140) [env.py: 1079] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/11 21:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:58:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:58:32 INFO: [Worker 0] Worker 0 house 1 episode 225/240 collected=0/40 [pipeline.py: 1044] +05/11 21:58:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 21:58:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.913s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.694[m] 79.531[deg] [grasp_sample.py: 539] +05/11 21:58:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:58:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:58:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:58:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 21:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:58:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:58:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:58:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:58:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.495s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:58:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.525[m] 65.970[deg] [grasp_sample.py: 539] +05/11 21:58:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:58:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:58:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:59:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:59:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:59:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:59:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.960s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:59:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.525[m] 65.970[deg] [grasp_sample.py: 539] +05/11 21:59:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:59:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.988s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:59:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.521[m] 56.245[deg] [grasp_sample.py: 539] +05/11 21:59:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:59:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:59:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:59:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:14 INFO: [Worker 0] Worker 0 house 1 episode 177 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 21:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:59:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:59:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:59:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:59:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.834s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:59:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.525[m] 65.970[deg] [grasp_sample.py: 539] +05/11 21:59:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:59:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.859s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:59:23 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.516[m] 55.668[deg] [grasp_sample.py: 539] +05/11 21:59:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:59:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:59:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:59:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:59:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 21:59:38 INFO: [Worker 0] Worker 0 house 1 episode 237 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 21:59:38 INFO: [Worker 0] [PROFILE] Episode 237 house 1 success=False episode_total=1.12s: + episode_total: mean=29.68s, total=89.04s, count=3, min=240.4ms, max=84386.3ms + sensor_polling: mean=457.7ms, total=34.32s, count=75, min=352.8ms, max=921.6ms + physics_step: mean=22.8ms, total=1.71s, count=75, min=13.3ms, max=65.4ms + task_specific_sample: mean=445.5ms, total=1.34s, count=3, min=222.9ms, max=557.6ms + task_sampling: mean=559.7ms, total=1.12s, count=2, min=558.9ms, max=560.6ms + task_sampling_failed: mean=240.3ms, total=240.3ms, count=1, min=240.3ms, max=240.3ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.2ms, max=2.2ms + mj_forward_sync: mean=582.7us, total=1.7ms, count=3, min=0.6ms, max=0.6ms + policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:59:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:59:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:38 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 21:59:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 21:59:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 331 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.510s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:59:38 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.044[m] 0.647[deg] [grasp_sample.py: 539] +05/11 21:59:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:59:39 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 21:59:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 21:59:39 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/11 21:59:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:59:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104782m [env.py: 870] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.3ms, total=245.3ms [env.py: 1105] +05/11 21:59:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:59:39 ERROR: [Worker 0] Worker 0 house 1 episode 238 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:59:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.744s, found feasible grasp: True [grasp_sample.py: 500] +05/11 21:59:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.516[m] 55.668[deg] [grasp_sample.py: 539] +05/11 21:59:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 21:59:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 21:59:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104253m [env.py: 870] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1448637 -1.03088653 -0.10425326] yaw=-51.3deg [env.py: 1019] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68740514 -0.96306376 -0.10425326] yaw=-77.2deg [env.py: 1019] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.2ms, total=236.2ms [env.py: 1075] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.031, -0.104) [env.py: 1079] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/11 21:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:59:41 INFO: [Worker 0] Worker 0 house 1 episode 239/240 collected=0/40 [pipeline.py: 1044] +05/11 21:59:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/11 21:59:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.515s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:59:43 ERROR: [Worker 0] Worker 0 house 1 episode 239 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:59:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:44 WARNING: [Worker 0] No trajectory data to save for chunk_002 [pipeline.py: 234] +05/11 21:59:44 WARNING: [Worker 0] No trajectory data to save for chunk_002 [pipeline.py: 234] +05/11 21:59:44 INFO: [Worker 0] Worker 0 completed house 1: 29/39 successful episodes [pipeline.py: 1323] +05/11 21:59:44 INFO: [Worker 0] [PROFILE] House 1 complete: 29/39 successful, 39 episodes, total_time=15810.21s + House averages: + episode_total: mean=38.83s, total=9319.62s, count=240, min=212.2ms, max=275825.1ms + sensor_polling: mean=471.0ms, total=5467.44s, count=11607, min=298.1ms, max=6390.8ms + physics_step: mean=28.5ms, total=331.19s, count=11607, min=13.3ms, max=222.7ms + save_trajectories: mean=10.79s, total=313.01s, count=29, min=9137.9ms, max=12902.5ms + task_specific_sample: mean=524.9ms, total=125.97s, count=240, min=197.8ms, max=1181.3ms + save_batch_prep: mean=3.96s, total=114.87s, count=29, min=3258.6ms, max=4707.1ms + task_sampling: mean=663.8ms, total=98.24s, count=148, min=361.9ms, max=3871.4ms + task_sampling_failed: mean=346.2ms, total=31.85s, count=92, min=212.2ms, max=782.5ms + scene_load: mean=3.13s, total=3.13s, count=1, min=3126.7ms, max=3126.7ms + scene_env_create: mean=1.78s, total=1.78s, count=1, min=1775.7ms, max=1775.7ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1181.4ms, max=1181.4ms + compile_mujoco: mean=843.6ms, total=843.6ms, count=1, min=843.6ms, max=843.6ms + scene_randomize: mean=1.5ms, total=354.0ms, count=240, min=0.9ms, max=3.5ms + compile_xml_load: mean=255.6ms, total=255.6ms, count=1, min=255.6ms, max=255.6ms + mj_forward_sync: mean=547.7us, total=131.4ms, count=240, min=0.4ms, max=0.7ms + scene_init: mean=112.0ms, total=112.0ms, count=1, min=112.0ms, max=112.0ms + compile_aux_objects: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms + compile_aux_policy_objects: mean=62.4ms, total=62.4ms, count=1, min=62.4ms, max=62.4ms + scene_asset_install: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + asset_install_grasps: mean=37.9ms, total=37.9ms, count=1, min=37.9ms, max=37.9ms + asset_install_objects: mean=15.7ms, total=15.7ms, count=1, min=15.7ms, max=15.7ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=16.0us, total=2.4ms, count=148, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 21:59:44 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 21:59:44 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 39 episodes, total_time=15810.21s + Worker averages: + episode_total: mean=38.83s, total=9319.62s, count=240, min=212.2ms, max=275825.1ms + sensor_polling: mean=471.0ms, total=5467.44s, count=11607, min=298.1ms, max=6390.8ms + physics_step: mean=28.5ms, total=331.19s, count=11607, min=13.3ms, max=222.7ms + save_trajectories: mean=10.79s, total=313.01s, count=29, min=9137.9ms, max=12902.5ms + task_specific_sample: mean=524.9ms, total=125.97s, count=240, min=197.8ms, max=1181.3ms + save_batch_prep: mean=3.96s, total=114.87s, count=29, min=3258.6ms, max=4707.1ms + task_sampling: mean=663.8ms, total=98.24s, count=148, min=361.9ms, max=3871.4ms + task_sampling_failed: mean=346.2ms, total=31.85s, count=92, min=212.2ms, max=782.5ms + scene_load: mean=3.13s, total=3.13s, count=1, min=3126.7ms, max=3126.7ms + scene_env_create: mean=1.78s, total=1.78s, count=1, min=1775.7ms, max=1775.7ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1181.4ms, max=1181.4ms + compile_mujoco: mean=843.6ms, total=843.6ms, count=1, min=843.6ms, max=843.6ms + scene_randomize: mean=1.5ms, total=354.0ms, count=240, min=0.9ms, max=3.5ms + compile_xml_load: mean=255.6ms, total=255.6ms, count=1, min=255.6ms, max=255.6ms + mj_forward_sync: mean=547.7us, total=131.4ms, count=240, min=0.4ms, max=0.7ms + scene_init: mean=112.0ms, total=112.0ms, count=1, min=112.0ms, max=112.0ms + compile_aux_objects: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms + compile_aux_policy_objects: mean=62.4ms, total=62.4ms, count=1, min=62.4ms, max=62.4ms + scene_asset_install: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + asset_install_grasps: mean=37.9ms, total=37.9ms, count=1, min=37.9ms, max=37.9ms + asset_install_objects: mean=15.7ms, total=15.7ms, count=1, min=15.7ms, max=15.7ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=16.0us, total=2.4ms, count=148, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 21:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:47 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 21:59:47 INFO: Success count: 29, Total count: 39 [pipeline.py: 1491] +05/11 21:59:47 INFO: Success rate: 74.36% [pipeline.py: 1492] +05/11 21:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 21:59:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 21:59:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.23s (batch: 4.02s, save: 9.21s) [pipeline.py: 300] +05/11 21:59:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 21:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 21:59:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 21:59:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 21:59:53 INFO: [Worker 0] Worker 0 house 1 episode 225 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 21:59:53 INFO: [Worker 0] [PROFILE] Episode 225 house 1 success=False episode_total=2.23s: + episode_total: mean=13.97s, total=97.81s, count=7, min=259.4ms, max=81657.1ms + sensor_polling: mean=418.3ms, total=32.21s, count=77, min=276.4ms, max=632.1ms + task_specific_sample: mean=439.3ms, total=3.08s, count=7, min=254.6ms, max=618.0ms + task_sampling: mean=558.6ms, total=2.23s, count=4, min=501.5ms, max=620.5ms + physics_step: mean=22.8ms, total=1.76s, count=77, min=13.3ms, max=38.6ms + task_sampling_failed: mean=287.7ms, total=863.0ms, count=3, min=259.3ms, max=323.7ms + scene_randomize: mean=1.3ms, total=9.4ms, count=7, min=0.9ms, max=2.6ms + mj_forward_sync: mean=494.0us, total=3.5ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=14.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:59:53 INFO: [Worker 0] [PROFILE] Episode 177 house 1 success=True episode_total=0.59s: + episode_total: mean=163.47s, total=163.47s, count=1, min=163470.1ms, max=163470.1ms + sensor_polling: mean=431.9ms, total=112.74s, count=261, min=307.7ms, max=786.2ms + save_trajectories: mean=9.21s, total=9.21s, count=1, min=9208.7ms, max=9208.7ms + physics_step: mean=27.5ms, total=7.17s, count=261, min=20.0ms, max=71.3ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4016.9ms, max=4016.9ms + task_sampling: mean=589.7ms, total=589.7ms, count=1, min=589.7ms, max=589.7ms + task_specific_sample: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=666.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 21:59:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145080m [env.py: 870] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33042475 -0.82512013 -0.14508022] yaw=-47.8deg [env.py: 1019] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112726m [env.py: 870] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51253718 -0.8489297 -0.14508022] yaw=-62.3deg [env.py: 1019] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:59:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.3ms, total=241.3ms [env.py: 1075] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -0.825, -0.145) [env.py: 1079] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/11 21:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=253.7ms, total=253.8ms [env.py: 1105] +05/11 21:59:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:59:54 ERROR: [Worker 0] Worker 0 house 1 episode 178 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:59:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:59:55 INFO: [Worker 0] Worker 0 house 1 episode 226/240 collected=0/40 [pipeline.py: 1044] +05/11 21:59:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/11 21:59:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171748m [env.py: 870] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.6ms, total=203.6ms [env.py: 1105] +05/11 21:59:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:59:56 ERROR: [Worker 0] Worker 0 house 1 episode 179 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:59:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.503s, found feasible grasp: False [grasp_sample.py: 500] +05/11 21:59:56 ERROR: [Worker 0] Worker 0 house 1 episode 226 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 21:59:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 21:59:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160646m [env.py: 870] +05/11 21:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=243.7ms, total=243.7ms [env.py: 1105] +05/11 21:59:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 21:59:58 ERROR: [Worker 0] Worker 0 house 1 episode 180 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 21:59:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145959m [env.py: 870] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47466177 -0.80917416 -0.14595948] yaw=-53.6deg [env.py: 1019] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 21:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=250.6ms, total=250.6ms [env.py: 1075] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.809, -0.146) [env.py: 1079] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg [env.py: 1082] +05/11 21:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 21:59:58 INFO: [Worker 0] Worker 0 house 1 episode 227/240 collected=0/40 [pipeline.py: 1044] +05/11 21:59:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 21:59:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 21:59:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 21:59:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 21:59:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 21:59:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 21:59:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 21:59:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 21:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 21:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 21:59:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 21:59:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 21:59:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 21:59:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 21:59:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170027m [env.py: 870] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 21:59:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31536628 -1.19664296 -0.17002661] yaw=-39.4deg [env.py: 1019] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 21:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:00:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=218.6ms, total=218.7ms [env.py: 1075] +05/11 22:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.197, -0.170) [env.py: 1079] +05/11 22:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg [env.py: 1082] +05/11 22:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/11 22:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:00:00 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40 [pipeline.py: 1044] +05/11 22:00:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/11 22:00:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:00:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:00:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:00:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.625s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:00:00 ERROR: [Worker 0] Worker 0 house 1 episode 227 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:00:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188691m [env.py: 870] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3529481 -1.07879548 -0.18869102] yaw=-54.7deg [env.py: 1019] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=291.8ms, total=291.9ms [env.py: 1075] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -1.079, -0.189) [env.py: 1079] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg [env.py: 1082] +05/11 22:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:00:02 INFO: [Worker 0] Worker 0 house 1 episode 228/240 collected=0/40 [pipeline.py: 1044] +05/11 22:00:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:00:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:00:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:00:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.173s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:00:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.893s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:00:03 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.642[m] 79.767[deg] [grasp_sample.py: 539] +05/11 22:00:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.450s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:00:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.676[m] 89.269[deg] [grasp_sample.py: 539] +05/11 22:00:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:00:04 ERROR: [Worker 0] Worker 0 house 1 episode 181 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:00:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:00:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:00:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:00:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110907m [env.py: 870] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=206.2ms, total=206.2ms [env.py: 1105] +05/11 22:00:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:00:06 ERROR: [Worker 0] Worker 0 house 1 episode 182 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:00:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:00:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:00:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:00:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:00:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 366 non-colliding grasps [grasp_sample.py: 465] +05/11 22:00:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109870m [env.py: 870] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=239.4ms, total=239.5ms [env.py: 1105] +05/11 22:00:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:00:08 ERROR: [Worker 0] Worker 0 house 1 episode 183 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:00:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.687s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:00:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.355[deg] [grasp_sample.py: 539] +05/11 22:00:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:00:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:00:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:00:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166661m [env.py: 870] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=689.6ms, total=689.7ms [env.py: 1105] +05/11 22:00:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:00:10 ERROR: [Worker 0] Worker 0 house 1 episode 184 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:00:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:00:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121139m [env.py: 870] +05/11 22:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27971166 -0.90228255 -0.12113888] yaw=-52.8deg [env.py: 1019] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:00:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=543.1ms, total=543.2ms [env.py: 1075] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -0.902, -0.121) [env.py: 1079] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/11 22:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/11 22:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:00:12 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40 [pipeline.py: 1044] +05/11 22:00:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 22:00:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:00:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:00:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:00:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.436s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:00:14 ERROR: [Worker 0] Worker 0 house 1 episode 185 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:00:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133611m [env.py: 870] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4380896 -0.92085218 -0.13361056] yaw=-56.7deg [env.py: 1019] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:00:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.1ms, total=275.2ms [env.py: 1075] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.921, -0.134) [env.py: 1079] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/11 22:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:00:16 INFO: [Worker 0] Worker 0 house 1 episode 186/240 collected=0/40 [pipeline.py: 1044] +05/11 22:00:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 22:00:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:00:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:00:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:00:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:00:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.768s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:00:21 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.756[m] 84.406[deg] [grasp_sample.py: 539] +05/11 22:00:22 ERROR: [Worker 0] Worker 0 house 1 episode 186 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:00:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120331m [env.py: 870] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=298.7ms, total=298.8ms [env.py: 1105] +05/11 22:00:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:00:24 ERROR: [Worker 0] Worker 0 house 1 episode 187 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:00:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:00:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:00:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:00:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:00:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:00:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:00:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:00:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177464m [env.py: 870] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:00:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42122616 -0.9044026 -0.17746428] yaw=-62.7deg [env.py: 1019] +05/11 22:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:00:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=411.9ms, total=412.0ms [env.py: 1075] +05/11 22:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -0.904, -0.177) [env.py: 1079] +05/11 22:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/11 22:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/11 22:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:00:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:00:26 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40 [pipeline.py: 1044] +05/11 22:00:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 22:00:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:00:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:00:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:00:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.195s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:00:35 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.719[m] 82.268[deg] [grasp_sample.py: 539] +05/11 22:00:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:00:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:00:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:00:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:00:41 INFO: [Worker 0] Worker 0 house 1 episode 234 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:01:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:01:09 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:01:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:01:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:01:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:01:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:01:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:01:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:01:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.36s (batch: 3.98s, save: 10.38s) [pipeline.py: 300] +05/11 22:01:24 INFO: [Worker 0] [PROFILE] Episode 234 house 1 success=True episode_total=2.21s: + episode_total: mean=64.42s, total=322.11s, count=5, min=222.7ms, max=188922.0ms + sensor_polling: mean=435.0ms, total=217.08s, count=499, min=288.6ms, max=700.7ms + physics_step: mean=26.9ms, total=13.44s, count=499, min=20.0ms, max=101.4ms + save_trajectories: mean=10.38s, total=10.38s, count=1, min=10378.0ms, max=10378.0ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3983.3ms, max=3983.3ms + task_specific_sample: mean=482.6ms, total=2.41s, count=5, min=217.6ms, max=582.1ms + task_sampling: mean=552.1ms, total=2.21s, count=4, min=524.2ms, max=584.7ms + task_sampling_failed: mean=222.7ms, total=222.7ms, count=1, min=222.7ms, max=222.7ms + scene_randomize: mean=1.6ms, total=7.8ms, count=5, min=1.1ms, max=2.8ms + mj_forward_sync: mean=557.9us, total=2.8ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:01:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:01:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:01:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:01:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:01:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:01:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:01:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112506m [env.py: 870] +05/11 22:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:01:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41196294 -0.94663603 -0.11250625] yaw=-53.2deg [env.py: 1019] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29383012 -1.20691705 -0.11250625] yaw=-34.7deg [env.py: 1019] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:01:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.4ms, total=219.4ms [env.py: 1075] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -0.947, -0.113) [env.py: 1079] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/11 22:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/11 22:01:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:01:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:01:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:01:26 INFO: [Worker 0] Worker 0 house 1 episode 235/240 collected=0/40 [pipeline.py: 1044] +05/11 22:01:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 22:01:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:01:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:01:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:01:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.986s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:01:31 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.782[m] 72.954[deg] [grasp_sample.py: 539] +05/11 22:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:01:32 ERROR: [Worker 0] Worker 0 house 1 episode 235 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:01:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:01:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:01:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178469m [env.py: 870] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=503.4ms, total=503.4ms [env.py: 1105] +05/11 22:01:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:01:34 ERROR: [Worker 0] Worker 0 house 1 episode 236 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:01:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:01:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:01:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:01:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:01:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:01:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:01:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154421m [env.py: 870] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:01:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36598549 -0.85684206 -0.15442071] yaw=-56.0deg [env.py: 1019] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28649344 -1.23168542 -0.15442071] yaw=-47.4deg [env.py: 1019] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:01:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=307.4ms, total=307.5ms [env.py: 1075] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.857, -0.154) [env.py: 1079] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/11 22:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:01:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:01:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:01:36 INFO: [Worker 0] Worker 0 house 1 episode 237/240 collected=0/40 [pipeline.py: 1044] +05/11 22:01:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 22:01:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:01:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:01:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:01:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.584s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:01:38 ERROR: [Worker 0] Worker 0 house 1 episode 237 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:01:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:01:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:01:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:01:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:01:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129539m [env.py: 870] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49715832 -1.00794875 -0.12953903] yaw=-67.9deg [env.py: 1019] +05/11 22:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:01:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.5ms, total=221.5ms [env.py: 1075] +05/11 22:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -1.008, -0.130) [env.py: 1079] +05/11 22:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/11 22:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/11 22:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:01:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:01:40 INFO: [Worker 0] Worker 0 house 1 episode 238/240 collected=0/40 [pipeline.py: 1044] +05/11 22:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 22:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:01:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:01:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:01:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.917s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:01:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.672[m] 84.306[deg] [grasp_sample.py: 539] +05/11 22:01:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:01:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:01:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:01:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:01:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:02:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:04 INFO: [Worker 0] Worker 0 house 1 episode 228 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:02:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 333 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.454s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:10 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.056[m] 9.715[deg] [grasp_sample.py: 539] +05/11 22:02:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:02:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:02:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:02:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:02:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.991s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:15 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.546[m] 58.475[deg] [grasp_sample.py: 539] +05/11 22:02:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:02:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:02:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:02:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 350 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.620s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:23 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.053[m] 31.769[deg] [grasp_sample.py: 539] +05/11 22:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:02:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:02:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:26 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:02:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:02:26 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/11 22:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:02:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:02:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.202s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:33 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.546[m] 58.475[deg] [grasp_sample.py: 539] +05/11 22:02:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:02:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:02:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:02:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 358 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.589s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:36 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.054[m] 32.105[deg] [grasp_sample.py: 539] +05/11 22:02:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:02:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:02:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:02:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:02:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.77s (batch: 3.83s, save: 9.94s) [pipeline.py: 300] +05/11 22:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:40 INFO: [Worker 0] [PROFILE] Episode 228 house 1 success=True episode_total=1.50s: + episode_total: mean=54.35s, total=163.06s, count=3, min=2212.0ms, max=158576.1ms + sensor_polling: mean=401.8ms, total=109.28s, count=272, min=267.8ms, max=779.3ms + save_trajectories: mean=9.94s, total=9.94s, count=1, min=9943.9ms, max=9943.9ms + physics_step: mean=25.6ms, total=6.96s, count=272, min=19.8ms, max=100.3ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.9ms, max=3829.9ms + task_sampling: mean=500.7ms, total=1.50s, count=3, min=465.3ms, max=548.0ms + task_specific_sample: mean=498.0ms, total=1.49s, count=3, min=461.8ms, max=545.7ms + scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=1.1ms, max=1.2ms + mj_forward_sync: mean=445.1us, total=1.3ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:02:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:02:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:02:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:02:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:02:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:02:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:02:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170260m [env.py: 870] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:02:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54608863 -0.94817438 -0.17026041] yaw=-72.9deg [env.py: 1019] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:02:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.6ms, total=220.6ms [env.py: 1075] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.948, -0.170) [env.py: 1079] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.9 deg [env.py: 1082] +05/11 22:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:02:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:02:42 INFO: [Worker 0] Worker 0 house 1 episode 229/240 collected=0/40 [pipeline.py: 1044] +05/11 22:02:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/11 22:02:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.307s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:47 INFO: [Worker 0] Feasible grasp found 671 (originally 7): w/ 0.679[m] 89.358[deg] [grasp_sample.py: 539] +05/11 22:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:02:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:02:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:48 ERROR: [Worker 0] Worker 0 house 1 episode 229 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:02:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:02:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:02:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:02:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:02:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:02:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:02:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:02:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140277m [env.py: 870] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:02:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=209.7ms, total=209.8ms [env.py: 1105] +05/11 22:02:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:02:50 ERROR: [Worker 0] Worker 0 house 1 episode 230 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:02:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.606s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:50 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.546[m] 58.475[deg] [grasp_sample.py: 539] +05/11 22:02:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:02:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:02:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:02:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:02:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:02:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:02:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:02:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:02:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114208m [env.py: 870] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:02:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57466869 -0.97756101 -0.11420831] yaw=-60.7deg [env.py: 1019] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.08761515 -1.08530055 -0.11420831] yaw=-28.3deg [env.py: 1019] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:02:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms [env.py: 1075] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.978, -0.114) [env.py: 1079] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/11 22:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:02:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:02:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:02:52 INFO: [Worker 0] Worker 0 house 1 episode 231/240 collected=0/40 [pipeline.py: 1044] +05/11 22:02:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 22:02:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:02:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:02:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:02:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.759s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:02:57 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.707[m] 80.933[deg] [grasp_sample.py: 539] +05/11 22:02:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:02:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:02:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:02:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:03:01 INFO: [Worker 0] Object is not in grasp! 0.00139 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:03:01 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 22:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:03:02 INFO: [Worker 0] Worker 0 house 1 episode 188 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 22:03:02 INFO: [Worker 0] [PROFILE] Episode 188 house 1 success=False episode_total=2.58s: + episode_total: mean=15.70s, total=172.74s, count=11, min=214.6ms, max=156407.7ms + sensor_polling: mean=403.4ms, total=113.76s, count=282, min=268.4ms, max=899.3ms + physics_step: mean=26.3ms, total=7.42s, count=282, min=19.8ms, max=59.1ms + task_specific_sample: mean=431.7ms, total=4.75s, count=11, min=210.6ms, max=837.8ms + task_sampling: mean=644.7ms, total=2.58s, count=4, min=523.7ms, max=841.6ms + task_sampling_failed: mean=315.5ms, total=2.21s, count=7, min=214.6ms, max=698.3ms + scene_randomize: mean=1.5ms, total=16.8ms, count=11, min=1.0ms, max=3.0ms + mj_forward_sync: mean=559.5us, total=6.2ms, count=11, min=0.4ms, max=0.7ms + policy_setup: mean=13.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:03:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111673m [env.py: 870] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31918656 -0.85268064 -0.11167305] yaw=-47.2deg [env.py: 1019] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=313.5ms, total=313.5ms [env.py: 1075] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -0.853, -0.112) [env.py: 1079] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/11 22:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:03:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:03:03 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 22:03:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:03 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:04 INFO: [Worker 0] Worker 0 house 1 episode 238 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 22:03:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.590s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:03:05 ERROR: [Worker 0] Worker 0 house 1 episode 189 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112442m [env.py: 870] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61663496 -0.89156981 -0.11244159] yaw=-64.9deg [env.py: 1019] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=268.2ms, total=268.3ms [env.py: 1075] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.617, -0.892, -0.112) [env.py: 1079] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/11 22:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:07 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.835s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:03:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.742[m] 82.555[deg] [grasp_sample.py: 539] +05/11 22:03:13 ERROR: [Worker 0] Worker 0 house 1 episode 190 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:03:14 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/debug/chunk_002 [pipeline.py: 1174] +05/11 22:03:14 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 30203) [pipeline.py: 1213] +05/11 22:03:14 INFO: [Worker 0] [PROFILE] Episode 238 house 1 success=False episode_total=1.48s: + episode_total: mean=26.06s, total=104.26s, count=4, min=522.5ms, max=94469.9ms + sensor_polling: mean=381.7ms, total=29.39s, count=77, min=289.1ms, max=843.1ms + task_specific_sample: mean=494.7ms, total=1.98s, count=4, min=427.1ms, max=534.1ms + task_sampling: mean=492.5ms, total=1.48s, count=3, min=429.3ms, max=536.1ms + physics_step: mean=19.0ms, total=1.46s, count=77, min=13.0ms, max=27.9ms + task_sampling_failed: mean=522.5ms, total=522.5ms, count=1, min=522.5ms, max=522.5ms + scene_randomize: mean=1.6ms, total=6.3ms, count=4, min=0.9ms, max=3.1ms + mj_forward_sync: mean=481.3us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=12.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:03:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142258m [env.py: 870] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54498229 -0.71131179 -0.14225796] yaw=-76.0deg [env.py: 1019] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.2ms, total=336.3ms [env.py: 1075] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.545, -0.711, -0.142) [env.py: 1079] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.0 deg [env.py: 1082] +05/11 22:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:15 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192552m [env.py: 870] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31287181 -1.05856637 -0.19255157] yaw=-41.3deg [env.py: 1019] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=207.9ms, total=208.0ms [env.py: 1075] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -1.059, -0.193) [env.py: 1079] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.3 deg [env.py: 1082] +05/11 22:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:16 INFO: [Worker 0] Worker 0 house 1 episode 239/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.433s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:03:16 ERROR: [Worker 0] Worker 0 house 1 episode 191 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:03:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180643m [env.py: 870] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19760348 -1.14520895 -0.18064294] yaw=-37.1deg [env.py: 1019] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=261.8ms, total=261.9ms [env.py: 1075] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.145, -0.181) [env.py: 1079] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.1 deg [env.py: 1082] +05/11 22:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:18 INFO: [Worker 0] Worker 0 house 1 episode 192/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.552s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:03:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.687[m] 72.457[deg] [grasp_sample.py: 539] +05/11 22:03:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:03:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.708[m] 80.839[deg] [grasp_sample.py: 539] +05/11 22:03:20 ERROR: [Worker 0] Worker 0 house 1 episode 239 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:03:21 ERROR: [Worker 0] Worker 0 house 1 episode 192 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:03:21 WARNING: [Worker 0] No trajectory data to save for chunk_002 [pipeline.py: 234] +05/11 22:03:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:03:21 INFO: [Worker 0] Preparing episode data: 78 timesteps [save_utils.py: 278] +05/11 22:03:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109231m [env.py: 870] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24974795 -1.01756743 -0.10923065] yaw=-52.7deg [env.py: 1019] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=356.8ms, total=356.8ms [env.py: 1075] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -1.018, -0.109) [env.py: 1079] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/11 22:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:23 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:03:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.676s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:03:26 ERROR: [Worker 0] Worker 0 house 1 episode 193 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 22:03:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:03:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/debug/chunk_002 [save_utils.py: 785] +05/11 22:03:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 5.01s (batch: 2.44s, save: 2.58s) [pipeline.py: 300] +05/11 22:03:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121195m [env.py: 870] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:27 INFO: [Worker 0] Worker 0 completed house 1: 32/46 successful episodes [pipeline.py: 1323] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:27 INFO: [Worker 0] [PROFILE] House 1 complete: 32/46 successful, 46 episodes, total_time=16376.33s + House averages: + episode_total: mean=39.75s, total=9540.31s, count=240, min=192.4ms, max=209659.8ms + sensor_polling: mean=457.5ms, total=5731.67s, count=12528, min=272.3ms, max=1068.0ms + save_trajectories: mean=11.31s, total=361.94s, count=32, min=9188.8ms, max=16806.1ms + physics_step: mean=28.5ms, total=356.49s, count=12528, min=13.0ms, max=167.7ms + save_batch_prep: mean=4.22s, total=135.13s, count=32, min=3655.1ms, max=5285.3ms + task_specific_sample: mean=496.1ms, total=119.06s, count=240, min=189.1ms, max=1249.6ms + task_sampling: mean=599.4ms, total=93.50s, count=156, min=347.0ms, max=1252.7ms + task_sampling_failed: mean=354.0ms, total=29.74s, count=84, min=192.4ms, max=3739.3ms + scene_load: mean=3.27s, total=3.27s, count=1, min=3266.7ms, max=3266.7ms + scene_env_create: mean=1.74s, total=1.74s, count=1, min=1743.7ms, max=1743.7ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1251.5ms, max=1251.5ms + compile_mujoco: mean=776.2ms, total=776.2ms, count=1, min=776.2ms, max=776.2ms + scene_randomize: mean=1.5ms, total=360.0ms, count=240, min=0.9ms, max=6.4ms + compile_xml_load: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms + scene_init: mean=169.4ms, total=169.4ms, count=1, min=169.4ms, max=169.4ms + mj_forward_sync: mean=590.5us, total=141.7ms, count=240, min=0.4ms, max=11.3ms + scene_asset_install: mean=101.8ms, total=101.8ms, count=1, min=101.8ms, max=101.8ms + compile_aux_objects: mean=96.5ms, total=96.5ms, count=1, min=96.5ms, max=96.5ms + compile_aux_policy_objects: mean=96.4ms, total=96.4ms, count=1, min=96.4ms, max=96.4ms + asset_install_grasps: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms + asset_install_objects: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + compile_robot_add: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms + asset_install_scene: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + policy_setup: mean=15.8us, total=2.5ms, count=156, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40724068 -0.99512651 -0.12119489] yaw=-63.9deg [env.py: 1019] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=244.5ms, total=244.5ms [env.py: 1075] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -0.995, -0.121) [env.py: 1079] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.9 deg [env.py: 1082] +05/11 22:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:27 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 22:03:27 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 46 episodes, total_time=16376.33s + Worker averages: + episode_total: mean=39.75s, total=9540.31s, count=240, min=192.4ms, max=209659.8ms + sensor_polling: mean=457.5ms, total=5731.67s, count=12528, min=272.3ms, max=1068.0ms + save_trajectories: mean=11.31s, total=361.94s, count=32, min=9188.8ms, max=16806.1ms + physics_step: mean=28.5ms, total=356.49s, count=12528, min=13.0ms, max=167.7ms + save_batch_prep: mean=4.22s, total=135.13s, count=32, min=3655.1ms, max=5285.3ms + task_specific_sample: mean=496.1ms, total=119.06s, count=240, min=189.1ms, max=1249.6ms + task_sampling: mean=599.4ms, total=93.50s, count=156, min=347.0ms, max=1252.7ms + task_sampling_failed: mean=354.0ms, total=29.74s, count=84, min=192.4ms, max=3739.3ms + scene_load: mean=3.27s, total=3.27s, count=1, min=3266.7ms, max=3266.7ms + scene_env_create: mean=1.74s, total=1.74s, count=1, min=1743.7ms, max=1743.7ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1251.5ms, max=1251.5ms + compile_mujoco: mean=776.2ms, total=776.2ms, count=1, min=776.2ms, max=776.2ms + scene_randomize: mean=1.5ms, total=360.0ms, count=240, min=0.9ms, max=6.4ms + compile_xml_load: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms + scene_init: mean=169.4ms, total=169.4ms, count=1, min=169.4ms, max=169.4ms + mj_forward_sync: mean=590.5us, total=141.7ms, count=240, min=0.4ms, max=11.3ms + scene_asset_install: mean=101.8ms, total=101.8ms, count=1, min=101.8ms, max=101.8ms + compile_aux_objects: mean=96.5ms, total=96.5ms, count=1, min=96.5ms, max=96.5ms + compile_aux_policy_objects: mean=96.4ms, total=96.4ms, count=1, min=96.4ms, max=96.4ms + asset_install_grasps: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms + asset_install_objects: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + compile_robot_add: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms + asset_install_scene: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + policy_setup: mean=15.8us, total=2.5ms, count=156, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 22:03:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:27 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.384s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:03:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.710[m] 87.293[deg] [grasp_sample.py: 539] +05/11 22:03:30 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 22:03:30 INFO: Success count: 32, Total count: 46 [pipeline.py: 1491] +05/11 22:03:30 INFO: Success rate: 69.57% [pipeline.py: 1492] +05/11 22:03:30 ERROR: [Worker 0] Worker 0 house 1 episode 194 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:03:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122047m [env.py: 870] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43343314 -0.76069684 -0.12204748] yaw=-53.1deg [env.py: 1019] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=268.7ms, total=268.8ms [env.py: 1075] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -0.761, -0.122) [env.py: 1079] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/11 22:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:32 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:03:34 ERROR: [Worker 0] Worker 0 house 1 episode 195 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:03:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:03:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:03:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:03:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:03:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:03:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145250m [env.py: 870] +05/11 22:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:03:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2962307 -0.99913185 -0.14524963] yaw=-58.1deg [env.py: 1019] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:03:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=337.3ms, total=337.3ms [env.py: 1075] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -0.999, -0.145) [env.py: 1079] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/11 22:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/11 22:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:03:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:03:36 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40 [pipeline.py: 1044] +05/11 22:03:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:03:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:03:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:03:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:03:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.715s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:03:40 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.748[m] 93.398[deg] [grasp_sample.py: 539] +05/11 22:03:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:03:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:03:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:03:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:04:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:04:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:04:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:04:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:04:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:04:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.737s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:04:10 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.150[m] 11.713[deg] [grasp_sample.py: 539] +05/11 22:04:11 ERROR: [Worker 0] Worker 0 house 1 episode 231 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:04:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:04:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:04:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:04:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:04:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:04:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:04:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189685m [env.py: 870] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:04:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.63749597 -0.98238464 -0.18968472] yaw=-73.9deg [env.py: 1019] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:04:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.7ms, total=256.7ms [env.py: 1075] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.637, -0.982, -0.190) [env.py: 1079] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg [env.py: 1082] +05/11 22:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:04:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:04:13 INFO: [Worker 0] Worker 0 house 1 episode 232/240 collected=0/40 [pipeline.py: 1044] +05/11 22:04:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:04:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:04:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:04:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:04:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.498s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:04:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.606[m] 83.856[deg] [grasp_sample.py: 539] +05/11 22:04:15 ERROR: [Worker 0] Worker 0 house 1 episode 232 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:04:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:04:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:04:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:04:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:04:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:04:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:04:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145499m [env.py: 870] +05/11 22:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:04:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.5ms, total=231.5ms [env.py: 1105] +05/11 22:04:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:04:17 ERROR: [Worker 0] Worker 0 house 1 episode 233 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:04:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:04:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:04:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:04:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:04:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:04:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:04:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104398m [env.py: 870] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:04:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54928472 -1.00762216 -0.10439844] yaw=-66.2deg [env.py: 1019] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10817296 -1.05741174 -0.10439844] yaw=-36.1deg [env.py: 1019] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40223388 -1.13052987 -0.10439844] yaw=-39.1deg [env.py: 1019] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:04:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.1ms, total=187.1ms [env.py: 1075] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -1.008, -0.104) [env.py: 1079] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/11 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:04:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:04:19 INFO: [Worker 0] Worker 0 house 1 episode 234/240 collected=0/40 [pipeline.py: 1044] +05/11 22:04:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 22:04:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:04:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:04:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:04:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.884s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:04:24 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.719[m] 78.386[deg] [grasp_sample.py: 539] +05/11 22:04:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:04:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:04:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:04:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:04:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:04:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:05:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:05:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:05:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:05:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.466s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:05:22 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.183[m] 15.922[deg] [grasp_sample.py: 539] +05/11 22:05:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:05:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:05:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:05:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:05:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:05:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:05:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:05:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.603s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:05:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.228[m] 24.858[deg] [grasp_sample.py: 539] +05/11 22:05:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:05:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:05:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:05:34 INFO: [Worker 0] Worker 0 house 1 episode 196 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:05:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:05:59 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:05:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:05:59 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/11 22:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:06:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:06:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.77s (batch: 3.57s, save: 11.20s) [pipeline.py: 300] +05/11 22:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:14 INFO: [Worker 0] [PROFILE] Episode 196 house 1 success=True episode_total=4.20s: + episode_total: mean=22.65s, total=181.23s, count=8, min=1981.3ms, max=158973.9ms + sensor_polling: mean=365.1ms, total=104.06s, count=285, min=279.2ms, max=640.7ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11199.4ms, max=11199.4ms + physics_step: mean=24.4ms, total=6.94s, count=285, min=15.3ms, max=131.1ms + task_sampling: mean=524.9ms, total=4.20s, count=8, min=473.1ms, max=635.6ms + task_specific_sample: mean=522.2ms, total=4.18s, count=8, min=470.8ms, max=633.2ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.0ms, max=3570.0ms + scene_randomize: mean=1.2ms, total=9.3ms, count=8, min=1.0ms, max=1.4ms + mj_forward_sync: mean=491.8us, total=3.9ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=11.4us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132741m [env.py: 870] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46673759 -0.91825172 -0.13274081] yaw=-52.6deg [env.py: 1019] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=476.9ms, total=477.0ms [env.py: 1075] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -0.918, -0.133) [env.py: 1079] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/11 22:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:16 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:06:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:06:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 381 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.519s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:06:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.755[m] 88.568[deg] [grasp_sample.py: 539] +05/11 22:06:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.026s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:06:22 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.119[m] 6.296[deg] [grasp_sample.py: 539] +05/11 22:06:23 ERROR: [Worker 0] Worker 0 house 1 episode 197 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:06:23 ERROR: [Worker 0] Worker 0 house 1 episode 234 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:06:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141437m [env.py: 870] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110526m [env.py: 870] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29674954 -1.18996137 -0.1105258 ] yaw=-45.5deg [env.py: 1019] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=627.8ms, total=627.8ms [env.py: 1105] +05/11 22:06:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:25 ERROR: [Worker 0] Worker 0 house 1 episode 198 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38101934 -0.82453682 -0.1105258 ] yaw=-54.1deg [env.py: 1019] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56159183 -0.97015512 -0.1105258 ] yaw=-64.0deg [env.py: 1019] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=551.8ms, total=551.9ms [env.py: 1075] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.190, -0.111) [env.py: 1079] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/11 22:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:25 INFO: [Worker 0] Worker 0 house 1 episode 235/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116341m [env.py: 870] +05/11 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=491.0ms, total=491.0ms [env.py: 1105] +05/11 22:06:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:06:27 ERROR: [Worker 0] Worker 0 house 1 episode 199 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:06:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.604s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:06:27 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.661[m] 89.012[deg] [grasp_sample.py: 539] +05/11 22:06:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115655m [env.py: 870] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44319599 -0.97646357 -0.11565452] yaw=-65.1deg [env.py: 1019] +05/11 22:06:28 ERROR: [Worker 0] Worker 0 house 1 episode 235 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=621.6ms, total=621.7ms [env.py: 1075] +05/11 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -0.976, -0.116) [env.py: 1079] +05/11 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg [env.py: 1082] +05/11 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/11 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:29 INFO: [Worker 0] Worker 0 house 1 episode 200/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147283m [env.py: 870] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52916575 -0.92362002 -0.14728287] yaw=-58.0deg [env.py: 1019] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46311689 -0.78191342 -0.14728287] yaw=-54.1deg [env.py: 1019] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.7ms, total=250.7ms [env.py: 1075] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.924, -0.147) [env.py: 1079] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/11 22:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:30 INFO: [Worker 0] Worker 0 house 1 episode 236/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.429s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:06:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.703[m] 93.943[deg] [grasp_sample.py: 539] +05/11 22:06:33 ERROR: [Worker 0] Worker 0 house 1 episode 236 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:06:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136218m [env.py: 870] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=266.7ms, total=266.8ms [env.py: 1105] +05/11 22:06:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:06:35 ERROR: [Worker 0] Worker 0 house 1 episode 237 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:06:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.296s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:06:35 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.744[m] 98.630[deg] [grasp_sample.py: 539] +05/11 22:06:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180268m [env.py: 870] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.4ms, total=214.5ms [env.py: 1105] +05/11 22:06:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:06:36 ERROR: [Worker 0] Worker 0 house 1 episode 238 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:06:37 ERROR: [Worker 0] Worker 0 house 1 episode 200 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:06:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130925m [env.py: 870] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22550697 -0.94842114 -0.13092476] yaw=-48.3deg [env.py: 1019] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.4ms [env.py: 1075] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -0.948, -0.131) [env.py: 1079] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/11 22:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:38 INFO: [Worker 0] Worker 0 house 1 episode 239/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134863m [env.py: 870] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45728081 -1.0558231 -0.13486287] yaw=-44.8deg [env.py: 1019] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=435.9ms, total=435.9ms [env.py: 1075] +05/11 22:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -1.056, -0.135) [env.py: 1079] +05/11 22:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/11 22:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/11 22:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:39 INFO: [Worker 0] Worker 0 house 1 episode 201/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.596s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:06:39 ERROR: [Worker 0] Worker 0 house 1 episode 239 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:06:41 WARNING: [Worker 0] No trajectory data to save for chunk_002 [pipeline.py: 234] +05/11 22:06:41 WARNING: [Worker 0] No trajectory data to save for chunk_002 [pipeline.py: 234] +05/11 22:06:41 INFO: [Worker 0] Worker 0 completed house 1: 34/45 successful episodes [pipeline.py: 1323] +05/11 22:06:41 INFO: [Worker 0] [PROFILE] House 1 complete: 34/45 successful, 45 episodes, total_time=16786.10s + House averages: + episode_total: mean=40.63s, total=9750.21s, count=240, min=207.8ms, max=227361.6ms + sensor_polling: mean=451.9ms, total=5888.81s, count=13030, min=267.8ms, max=1021.3ms + save_trajectories: mean=10.88s, total=369.76s, count=34, min=8752.3ms, max=13783.0ms + physics_step: mean=28.2ms, total=367.17s, count=13030, min=13.0ms, max=134.6ms + save_batch_prep: mean=4.28s, total=145.37s, count=34, min=3365.6ms, max=14647.9ms + task_specific_sample: mean=520.5ms, total=124.93s, count=240, min=202.3ms, max=1043.8ms + task_sampling: mean=642.7ms, total=98.33s, count=153, min=359.9ms, max=4803.3ms + task_sampling_failed: mean=361.4ms, total=31.44s, count=87, min=207.8ms, max=975.3ms + scene_load: mean=3.84s, total=3.84s, count=1, min=3844.4ms, max=3844.4ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms + scene_compile: mean=1.77s, total=1.77s, count=1, min=1766.8ms, max=1766.8ms + compile_mujoco: mean=978.9ms, total=978.9ms, count=1, min=978.9ms, max=978.9ms + compile_xml_load: mean=647.1ms, total=647.1ms, count=1, min=647.1ms, max=647.1ms + scene_randomize: mean=1.5ms, total=351.2ms, count=240, min=0.9ms, max=3.4ms + scene_init: mean=224.3ms, total=224.3ms, count=1, min=224.3ms, max=224.3ms + mj_forward_sync: mean=528.1us, total=126.7ms, count=240, min=0.4ms, max=0.9ms + compile_aux_objects: mean=106.0ms, total=106.0ms, count=1, min=106.0ms, max=106.0ms + compile_aux_policy_objects: mean=106.0ms, total=106.0ms, count=1, min=106.0ms, max=106.0ms + scene_asset_install: mean=47.1ms, total=47.1ms, count=1, min=47.1ms, max=47.1ms + asset_install_grasps: mean=32.3ms, total=32.3ms, count=1, min=32.3ms, max=32.3ms + compile_robot_add: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=16.0us, total=2.4ms, count=153, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 22:06:41 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 22:06:41 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 45 episodes, total_time=16786.10s + Worker averages: + episode_total: mean=40.63s, total=9750.21s, count=240, min=207.8ms, max=227361.6ms + sensor_polling: mean=451.9ms, total=5888.81s, count=13030, min=267.8ms, max=1021.3ms + save_trajectories: mean=10.88s, total=369.76s, count=34, min=8752.3ms, max=13783.0ms + physics_step: mean=28.2ms, total=367.17s, count=13030, min=13.0ms, max=134.6ms + save_batch_prep: mean=4.28s, total=145.37s, count=34, min=3365.6ms, max=14647.9ms + task_specific_sample: mean=520.5ms, total=124.93s, count=240, min=202.3ms, max=1043.8ms + task_sampling: mean=642.7ms, total=98.33s, count=153, min=359.9ms, max=4803.3ms + task_sampling_failed: mean=361.4ms, total=31.44s, count=87, min=207.8ms, max=975.3ms + scene_load: mean=3.84s, total=3.84s, count=1, min=3844.4ms, max=3844.4ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms + scene_compile: mean=1.77s, total=1.77s, count=1, min=1766.8ms, max=1766.8ms + compile_mujoco: mean=978.9ms, total=978.9ms, count=1, min=978.9ms, max=978.9ms + compile_xml_load: mean=647.1ms, total=647.1ms, count=1, min=647.1ms, max=647.1ms + scene_randomize: mean=1.5ms, total=351.2ms, count=240, min=0.9ms, max=3.4ms + scene_init: mean=224.3ms, total=224.3ms, count=1, min=224.3ms, max=224.3ms + mj_forward_sync: mean=528.1us, total=126.7ms, count=240, min=0.4ms, max=0.9ms + compile_aux_objects: mean=106.0ms, total=106.0ms, count=1, min=106.0ms, max=106.0ms + compile_aux_policy_objects: mean=106.0ms, total=106.0ms, count=1, min=106.0ms, max=106.0ms + scene_asset_install: mean=47.1ms, total=47.1ms, count=1, min=47.1ms, max=47.1ms + asset_install_grasps: mean=32.3ms, total=32.3ms, count=1, min=32.3ms, max=32.3ms + compile_robot_add: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=16.0us, total=2.4ms, count=153, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 22:06:43 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 22:06:43 INFO: Success count: 34, Total count: 45 [pipeline.py: 1491] +05/11 22:06:43 INFO: Success rate: 75.56% [pipeline.py: 1492] +05/11 22:06:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.176s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:06:43 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.648[m] 78.168[deg] [grasp_sample.py: 539] +05/11 22:06:45 ERROR: [Worker 0] Worker 0 house 1 episode 201 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133708m [env.py: 870] +05/11 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=545.4ms, total=545.4ms [env.py: 1105] +05/11 22:06:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:06:47 ERROR: [Worker 0] Worker 0 house 1 episode 202 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:06:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136093m [env.py: 870] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14308453 -1.03096143 -0.13609324] yaw=-50.4deg [env.py: 1019] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.3ms, total=229.4ms [env.py: 1075] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.031, -0.136) [env.py: 1079] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/11 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:49 INFO: [Worker 0] Worker 0 house 1 episode 203/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.303s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:06:50 ERROR: [Worker 0] Worker 0 house 1 episode 203 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:06:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165916m [env.py: 870] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.8ms, total=214.9ms [env.py: 1105] +05/11 22:06:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:06:52 ERROR: [Worker 0] Worker 0 house 1 episode 204 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:06:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:06:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:06:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:06:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:06:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:06:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:06:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173710m [env.py: 870] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:06:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42296742 -0.89053648 -0.17371014] yaw=-62.7deg [env.py: 1019] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58617987 -0.89365497 -0.17371014] yaw=-67.1deg [env.py: 1019] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.4ms, total=224.4ms [env.py: 1075] +05/11 22:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -0.891, -0.174) [env.py: 1079] +05/11 22:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/11 22:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/11 22:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:06:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:06:54 INFO: [Worker 0] Worker 0 house 1 episode 205/240 collected=0/40 [pipeline.py: 1044] +05/11 22:06:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:06:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:06:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:06:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:06:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.756s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:06:58 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.746[m] 87.322[deg] [grasp_sample.py: 539] +05/11 22:06:59 ERROR: [Worker 0] Worker 0 house 1 episode 205 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:07:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:07:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:07:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168731m [env.py: 870] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25498044 -1.14093636 -0.16873128] yaw=-50.9deg [env.py: 1019] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms [env.py: 1075] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.141, -0.169) [env.py: 1079] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/11 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:07:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:07:00 INFO: [Worker 0] Worker 0 house 1 episode 206/240 collected=0/40 [pipeline.py: 1044] +05/11 22:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 22:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:07:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:07:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:07:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.680s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:07:04 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.677[m] 86.309[deg] [grasp_sample.py: 539] +05/11 22:07:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:07:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:07:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:07:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:08:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:08:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:08:13 INFO: [Worker 0] Object is not in grasp! 0.00138 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:08:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:08:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:08:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:08:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 407 non-colliding grasps [grasp_sample.py: 465] +05/11 22:08:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.415s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:08:14 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.072[m] 9.641[deg] [grasp_sample.py: 539] +05/11 22:08:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:08:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:08:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:08:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:08:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:08:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:09:00 INFO: [Worker 0] Worker 0 house 1 episode 206 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:09:22 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:09:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:09:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:09:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:09:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:09:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.78s (batch: 3.54s, save: 10.24s) [pipeline.py: 300] +05/11 22:09:36 INFO: [Worker 0] [PROFILE] Episode 206 house 1 success=True episode_total=3.59s: + episode_total: mean=18.76s, total=187.60s, count=10, min=224.5ms, max=156030.3ms + sensor_polling: mean=345.3ms, total=103.58s, count=300, min=270.5ms, max=691.3ms + save_trajectories: mean=10.24s, total=10.24s, count=1, min=10238.0ms, max=10238.0ms + physics_step: mean=23.0ms, total=6.91s, count=300, min=15.3ms, max=32.4ms + task_specific_sample: mean=548.9ms, total=5.49s, count=10, min=220.9ms, max=842.1ms + task_sampling: mean=598.0ms, total=3.59s, count=6, min=417.5ms, max=845.1ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3541.7ms, max=3541.7ms + task_sampling_failed: mean=483.7ms, total=1.93s, count=4, min=224.5ms, max=653.3ms + scene_randomize: mean=1.4ms, total=13.6ms, count=10, min=1.0ms, max=2.4ms + mj_forward_sync: mean=490.9us, total=4.9ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=15.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:09:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:09:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:09:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:09:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:09:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:09:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:09:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:09:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:09:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151127m [env.py: 870] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:09:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39949211 -1.13720885 -0.15112723] yaw=-58.3deg [env.py: 1019] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61885527 -0.80675274 -0.15112723] yaw=-76.8deg [env.py: 1019] +05/11 22:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23392429 -0.9238797 -0.15112723] yaw=-37.9deg [env.py: 1019] +05/11 22:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:09:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1075] +05/11 22:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -1.137, -0.151) [env.py: 1079] +05/11 22:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/11 22:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/11 22:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:09:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:09:38 INFO: [Worker 0] Worker 0 house 1 episode 207/240 collected=0/40 [pipeline.py: 1044] +05/11 22:09:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 22:09:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:09:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:09:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:09:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.970s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:09:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.609[m] 90.465[deg] [grasp_sample.py: 539] +05/11 22:09:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:09:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:09:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:10:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:10:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:10:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:10:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:10:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.848s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:10:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.439[m] 61.384[deg] [grasp_sample.py: 539] +05/11 22:10:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:10:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:10:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:10:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:10:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:10:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:10:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:10:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:10:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.821s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:10:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.435[m] 59.870[deg] [grasp_sample.py: 539] +05/11 22:10:21 ERROR: [Worker 0] Worker 0 house 1 episode 207 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:10:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:10:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:10:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:10:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:10:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:10:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:10:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186557m [env.py: 870] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:10:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.1ms, total=213.1ms [env.py: 1105] +05/11 22:10:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:10:23 ERROR: [Worker 0] Worker 0 house 1 episode 208 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:10:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:10:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:10:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:10:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:10:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:10:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:10:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122328m [env.py: 870] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:10:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.4ms, total=188.5ms [env.py: 1105] +05/11 22:10:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:10:24 ERROR: [Worker 0] Worker 0 house 1 episode 209 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:10:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:10:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:10:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:10:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:10:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:10:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:10:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155876m [env.py: 870] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:10:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.2ms, total=200.2ms [env.py: 1105] +05/11 22:10:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:10:25 ERROR: [Worker 0] Worker 0 house 1 episode 210 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:10:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:10:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:10:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:10:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:10:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:10:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:10:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:10:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:10:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:10:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:10:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191346m [env.py: 870] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:10:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.6ms, total=193.7ms [env.py: 1105] +05/11 22:10:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:10:27 ERROR: [Worker 0] Worker 0 house 1 episode 211 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:10:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:10:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:10:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:10:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:10:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:10:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:10:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183572m [env.py: 870] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:10:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2704348 -1.16776121 -0.18357166] yaw=-31.3deg [env.py: 1019] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:10:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.4ms, total=202.4ms [env.py: 1075] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.168, -0.184) [env.py: 1079] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg [env.py: 1082] +05/11 22:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:10:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:10:28 INFO: [Worker 0] Worker 0 house 1 episode 212/240 collected=0/40 [pipeline.py: 1044] +05/11 22:10:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 22:10:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:10:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:10:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:10:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.776s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:10:33 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.649[m] 84.931[deg] [grasp_sample.py: 539] +05/11 22:10:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:10:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:10:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:10:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:11:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:11:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:11:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:12:04 INFO: [Worker 0] Worker 0 house 1 episode 212 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:12:23 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:12:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:12:23 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/11 22:12:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:12:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:12:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.37s (batch: 3.11s, save: 8.26s) [pipeline.py: 300] +05/11 22:12:35 INFO: [Worker 0] [PROFILE] Episode 212 house 1 success=True episode_total=0.85s: + episode_total: mean=28.66s, total=171.97s, count=6, min=196.9ms, max=127338.6ms + sensor_polling: mean=313.9ms, total=101.70s, count=324, min=289.5ms, max=597.9ms + save_trajectories: mean=8.26s, total=8.26s, count=1, min=8256.0ms, max=8256.0ms + physics_step: mean=20.2ms, total=6.56s, count=324, min=12.7ms, max=30.9ms + save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3113.2ms, max=3113.2ms + task_specific_sample: mean=276.2ms, total=1.66s, count=6, min=193.4ms, max=427.1ms + task_sampling: mean=424.0ms, total=848.0ms, count=2, min=418.9ms, max=429.1ms + task_sampling_failed: mean=207.0ms, total=828.0ms, count=4, min=196.9ms, max=222.0ms + scene_randomize: mean=1.2ms, total=7.1ms, count=6, min=1.0ms, max=2.0ms + mj_forward_sync: mean=411.4us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:12:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:12:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:12:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:12:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:12:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128635m [env.py: 870] +05/11 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2780212 -0.97095522 -0.12863479] yaw=-42.2deg [env.py: 1019] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:12:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=322.6ms, total=322.7ms [env.py: 1075] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -0.971, -0.129) [env.py: 1079] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/11 22:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/11 22:12:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:12:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:12:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:12:37 INFO: [Worker 0] Worker 0 house 1 episode 213/240 collected=0/40 [pipeline.py: 1044] +05/11 22:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 22:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:12:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:12:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:12:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.412s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:12:43 ERROR: [Worker 0] Worker 0 house 1 episode 213 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 22:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:12:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:12:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:12:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:12:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142951m [env.py: 870] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43910646 -0.86942587 -0.14295103] yaw=-49.7deg [env.py: 1019] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.53759958 -0.80221604 -0.14295103] yaw=-61.9deg [env.py: 1019] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.5ms [env.py: 1075] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.439, -0.869, -0.143) [env.py: 1079] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/11 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:12:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:12:44 INFO: [Worker 0] Worker 0 house 1 episode 214/240 collected=0/40 [pipeline.py: 1044] +05/11 22:12:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 22:12:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:12:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:12:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:13:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 28.916s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:13:13 INFO: [Worker 0] Feasible grasp found 329 (originally 329): w/ 0.737[m] 89.090[deg] [grasp_sample.py: 539] +05/11 22:13:14 ERROR: [Worker 0] Worker 0 house 1 episode 214 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:13:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:13:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:13:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:13:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:13:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:13:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126428m [env.py: 870] +05/11 22:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:13:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.1ms, total=193.2ms [env.py: 1105] +05/11 22:13:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:13:16 ERROR: [Worker 0] Worker 0 house 1 episode 215 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:13:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:13:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:13:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:13:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:13:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:13:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169036m [env.py: 870] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:13:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17520986 -0.99250993 -0.16903611] yaw=-38.1deg [env.py: 1019] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1931199 -0.98341118 -0.16903611] yaw=-39.1deg [env.py: 1019] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17793791 -1.12000179 -0.16903611] yaw=-48.7deg [env.py: 1019] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:13:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.9ms, total=230.9ms [env.py: 1075] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -0.993, -0.169) [env.py: 1079] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/11 22:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:13:17 INFO: [Worker 0] Worker 0 house 1 episode 216/240 collected=0/40 [pipeline.py: 1044] +05/11 22:13:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 22:13:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:13:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:13:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:13:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.243s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:13:20 ERROR: [Worker 0] Worker 0 house 1 episode 216 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:13:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:13:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:13:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:13:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:13:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:13:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189643m [env.py: 870] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:13:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63636868 -0.81814397 -0.1896434 ] yaw=-71.8deg [env.py: 1019] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:13:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms [env.py: 1075] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.818, -0.190) [env.py: 1079] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.8 deg [env.py: 1082] +05/11 22:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:13:22 INFO: [Worker 0] Worker 0 house 1 episode 217/240 collected=0/40 [pipeline.py: 1044] +05/11 22:13:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 22:13:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:13:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:13:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:13:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.794s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:13:23 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.725[m] 86.796[deg] [grasp_sample.py: 539] +05/11 22:13:24 ERROR: [Worker 0] Worker 0 house 1 episode 217 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:13:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:13:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:13:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:13:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:13:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:13:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148852m [env.py: 870] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:13:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.0ms, total=210.0ms [env.py: 1105] +05/11 22:13:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:13:26 ERROR: [Worker 0] Worker 0 house 1 episode 218 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:13:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:13:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:13:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:13:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:13:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:13:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148981m [env.py: 870] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:13:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.12384215 -1.05843322 -0.14898078] yaw=-42.1deg [env.py: 1019] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:13:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.3ms [env.py: 1075] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.124, -1.058, -0.149) [env.py: 1079] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/11 22:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:13:27 INFO: [Worker 0] Worker 0 house 1 episode 219/240 collected=0/40 [pipeline.py: 1044] +05/11 22:13:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 22:13:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:13:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:13:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:13:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.265s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:13:29 ERROR: [Worker 0] Worker 0 house 1 episode 219 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:13:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:13:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:13:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:13:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:13:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:13:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101497m [env.py: 870] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:13:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37528538 -1.02892598 -0.10149731] yaw=-46.2deg [env.py: 1019] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.62150304 -0.89175697 -0.10149731] yaw=-78.6deg [env.py: 1019] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:13:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=192.7ms, total=192.8ms [env.py: 1075] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -1.029, -0.101) [env.py: 1079] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/11 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:13:30 INFO: [Worker 0] Worker 0 house 1 episode 220/240 collected=0/40 [pipeline.py: 1044] +05/11 22:13:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:13:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:13:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:13:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:13:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.530s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:13:35 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.761[m] 75.388[deg] [grasp_sample.py: 539] +05/11 22:13:36 ERROR: [Worker 0] Worker 0 house 1 episode 220 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:13:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:13:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:13:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:13:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:13:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:13:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107232m [env.py: 870] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:13:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35335243 -1.0304234 -0.10723232] yaw=-58.5deg [env.py: 1019] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13549169 -1.07554747 -0.10723232] yaw=-30.1deg [env.py: 1019] +05/11 22:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:13:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.5ms, total=196.6ms [env.py: 1075] +05/11 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -1.030, -0.107) [env.py: 1079] +05/11 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/11 22:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/11 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:13:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:13:38 INFO: [Worker 0] Worker 0 house 1 episode 221/240 collected=0/40 [pipeline.py: 1044] +05/11 22:13:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:13:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:13:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:13:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:13:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.208s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:13:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.746[m] 103.343[deg] [grasp_sample.py: 539] +05/11 22:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:13:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:13:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:13:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:14:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:14:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:14:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:15:21 INFO: [Worker 0] Worker 0 house 1 episode 221 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:15:41 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:15:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:15:41 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/11 22:15:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:15:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:15:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.25s (batch: 3.37s, save: 8.87s) [pipeline.py: 300] +05/11 22:15:54 INFO: [Worker 0] [PROFILE] Episode 221 house 1 success=True episode_total=3.05s: + episode_total: mean=20.87s, total=187.86s, count=9, min=201.8ms, max=136539.5ms + sensor_polling: mean=320.4ms, total=91.64s, count=286, min=295.0ms, max=518.4ms + save_trajectories: mean=8.87s, total=8.87s, count=1, min=8872.2ms, max=8872.2ms + physics_step: mean=20.6ms, total=5.89s, count=286, min=14.7ms, max=29.9ms + task_specific_sample: mean=383.0ms, total=3.45s, count=9, min=198.0ms, max=562.8ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.6ms, max=3374.6ms + task_sampling: mean=436.1ms, total=3.05s, count=7, min=393.7ms, max=565.9ms + task_sampling_failed: mean=209.7ms, total=419.5ms, count=2, min=201.8ms, max=217.7ms + scene_randomize: mean=1.2ms, total=10.9ms, count=9, min=1.0ms, max=2.0ms + mj_forward_sync: mean=427.9us, total=3.9ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=11.4us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:15:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:15:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:15:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:15:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:15:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156072m [env.py: 870] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38810247 -1.04571688 -0.15607233] yaw=-52.0deg [env.py: 1019] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.8ms, total=218.9ms [env.py: 1075] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.046, -0.156) [env.py: 1079] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/11 22:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:15:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:15:56 INFO: [Worker 0] Worker 0 house 1 episode 222/240 collected=0/40 [pipeline.py: 1044] +05/11 22:15:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 22:15:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:15:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:15:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:15:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.351s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:15:58 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.654[m] 91.402[deg] [grasp_sample.py: 539] +05/11 22:15:59 ERROR: [Worker 0] Worker 0 house 1 episode 222 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:16:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:16:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:16:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:16:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:16:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:16:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:16:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:16:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:16:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150086m [env.py: 870] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:16:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.0ms, total=192.0ms [env.py: 1105] +05/11 22:16:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:16:01 ERROR: [Worker 0] Worker 0 house 1 episode 223 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:16:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:16:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:16:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:16:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:16:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:16:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:16:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146378m [env.py: 870] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:16:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.57358435 -0.73039832 -0.14637817] yaw=-67.5deg [env.py: 1019] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:16:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.3ms, total=196.3ms [env.py: 1075] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.730, -0.146) [env.py: 1079] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/11 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:16:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:16:02 INFO: [Worker 0] Worker 0 house 1 episode 224/240 collected=0/40 [pipeline.py: 1044] +05/11 22:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:16:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:16:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:16:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.296s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:16:04 ERROR: [Worker 0] Worker 0 house 1 episode 224 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:16:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:16:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:16:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:16:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:16:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:16:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:16:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:16:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:16:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123173m [env.py: 870] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:16:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=156.3ms, total=156.3ms [env.py: 1105] +05/11 22:16:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:16:05 ERROR: [Worker 0] Worker 0 house 1 episode 225 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:16:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:16:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:16:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:16:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:16:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:16:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:16:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:16:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:16:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145896m [env.py: 870] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:16:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.4ms, total=156.4ms [env.py: 1105] +05/11 22:16:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:16:06 ERROR: [Worker 0] Worker 0 house 1 episode 226 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:16:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:16:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:16:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:16:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:16:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:16:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:16:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190327m [env.py: 870] +05/11 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:16:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42307658 -0.98890221 -0.19032666] yaw=-47.2deg [env.py: 1019] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.14867664 -1.12108132 -0.19032666] yaw=-44.3deg [env.py: 1019] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:16:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=555.2ms, total=555.2ms [env.py: 1075] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -0.989, -0.190) [env.py: 1079] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/11 22:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/11 22:16:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:16:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:16:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:16:08 INFO: [Worker 0] Worker 0 house 1 episode 227/240 collected=0/40 [pipeline.py: 1044] +05/11 22:16:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 22:16:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:16:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:16:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:16:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.793s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:16:11 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.638[m] 81.934[deg] [grasp_sample.py: 539] +05/11 22:16:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:16:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:16:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:16:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:16:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:17:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:17:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:17:42 INFO: [Worker 0] Worker 0 house 1 episode 227 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:18:01 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:18:01 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/11 22:18:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:18:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:18:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.44s (batch: 3.12s, save: 8.33s) [pipeline.py: 300] +05/11 22:18:13 INFO: [Worker 0] [PROFILE] Episode 227 house 1 success=True episode_total=1.62s: + episode_total: mean=22.05s, total=132.28s, count=6, min=163.5ms, max=125859.0ms + sensor_polling: mean=317.7ms, total=83.55s, count=263, min=292.7ms, max=535.7ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.7ms, max=8327.7ms + physics_step: mean=20.6ms, total=5.43s, count=263, min=14.4ms, max=32.0ms + save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3115.1ms, max=3115.1ms + task_specific_sample: mean=355.0ms, total=2.13s, count=6, min=160.9ms, max=754.0ms + task_sampling: mean=539.7ms, total=1.62s, count=3, min=397.4ms, max=756.1ms + task_sampling_failed: mean=176.0ms, total=528.0ms, count=3, min=163.5ms, max=200.9ms + scene_randomize: mean=1.3ms, total=7.6ms, count=6, min=1.0ms, max=2.6ms + mj_forward_sync: mean=413.0us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=11.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106565m [env.py: 870] +05/11 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20208973 -1.0996911 -0.1065645 ] yaw=-48.3deg [env.py: 1019] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.4ms, total=170.5ms [env.py: 1075] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.100, -0.107) [env.py: 1079] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/11 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/11 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:18:15 INFO: [Worker 0] Worker 0 house 1 episode 228/240 collected=0/40 [pipeline.py: 1044] +05/11 22:18:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 22:18:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:18:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:18:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:18:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.122s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:18:18 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.713[m] 80.565[deg] [grasp_sample.py: 539] +05/11 22:18:19 ERROR: [Worker 0] Worker 0 house 1 episode 228 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:18:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101090m [env.py: 870] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18255711 -1.002149 -0.10109046] yaw=-47.3deg [env.py: 1019] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53353292 -0.99251945 -0.10109046] yaw=-63.2deg [env.py: 1019] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:18:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.3ms [env.py: 1075] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -1.002, -0.101) [env.py: 1079] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/11 22:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/11 22:18:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:18:21 INFO: [Worker 0] Worker 0 house 1 episode 229/240 collected=0/40 [pipeline.py: 1044] +05/11 22:18:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 22:18:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:18:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:18:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:18:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.068s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:18:23 ERROR: [Worker 0] Worker 0 house 1 episode 229 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:18:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189502m [env.py: 870] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35913493 -0.85428238 -0.18950231] yaw=-66.3deg [env.py: 1019] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:18:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.6ms [env.py: 1075] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.854, -0.190) [env.py: 1079] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/11 22:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:18:25 INFO: [Worker 0] Worker 0 house 1 episode 230/240 collected=0/40 [pipeline.py: 1044] +05/11 22:18:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 22:18:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:18:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:18:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:18:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.078s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:18:27 ERROR: [Worker 0] Worker 0 house 1 episode 230 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:18:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108092m [env.py: 870] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58438486 -0.96368644 -0.10809241] yaw=-57.8deg [env.py: 1019] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:18:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.2ms [env.py: 1075] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.964, -0.108) [env.py: 1079] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/11 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:18:28 INFO: [Worker 0] Worker 0 house 1 episode 231/240 collected=0/40 [pipeline.py: 1044] +05/11 22:18:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 22:18:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:18:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:18:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:18:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.276s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:18:32 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.696[m] 86.678[deg] [grasp_sample.py: 539] +05/11 22:18:33 ERROR: [Worker 0] Worker 0 house 1 episode 231 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:18:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121122m [env.py: 870] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.585563 -0.714097 -0.12112236] yaw=-65.9deg [env.py: 1019] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:18:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=157.9ms, total=158.0ms [env.py: 1075] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.714, -0.121) [env.py: 1079] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/11 22:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:18:34 INFO: [Worker 0] Worker 0 house 1 episode 232/240 collected=0/40 [pipeline.py: 1044] +05/11 22:18:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 22:18:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:18:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:18:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:18:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.093s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:18:36 ERROR: [Worker 0] Worker 0 house 1 episode 232 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:18:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111219m [env.py: 870] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=157.5ms, total=157.5ms [env.py: 1105] +05/11 22:18:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:18:38 ERROR: [Worker 0] Worker 0 house 1 episode 233 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153421m [env.py: 870] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13546112 -1.11382753 -0.15342129] yaw=-39.9deg [env.py: 1019] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53895063 -0.79588365 -0.15342129] yaw=-75.1deg [env.py: 1019] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.4ms [env.py: 1075] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -1.114, -0.153) [env.py: 1079] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/11 22:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:18:39 INFO: [Worker 0] Worker 0 house 1 episode 234/240 collected=0/40 [pipeline.py: 1044] +05/11 22:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 22:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:18:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:18:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:18:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.076s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:18:42 ERROR: [Worker 0] Worker 0 house 1 episode 234 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:18:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:18:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:18:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:18:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:18:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:18:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186921m [env.py: 870] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:18:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37841486 -1.01106253 -0.18692073] yaw=-53.6deg [env.py: 1019] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:18:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.8ms, total=159.8ms [env.py: 1075] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -1.011, -0.187) [env.py: 1079] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg [env.py: 1082] +05/11 22:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:18:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:18:43 INFO: [Worker 0] Worker 0 house 1 episode 235/240 collected=0/40 [pipeline.py: 1044] +05/11 22:18:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:18:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:18:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:18:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:18:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.801s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:18:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.692[m] 95.117[deg] [grasp_sample.py: 539] +05/11 22:18:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:18:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:18:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:18:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:19:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:19:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:19:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:20:17 INFO: [Worker 0] Worker 0 house 1 episode 235 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:20:37 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:20:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:20:37 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/11 22:20:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:20:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:20:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.68s (batch: 3.29s, save: 8.39s) [pipeline.py: 300] +05/11 22:20:49 INFO: [Worker 0] [PROFILE] Episode 235 house 1 success=True episode_total=2.37s: + episode_total: mean=18.28s, total=146.24s, count=8, min=165.5ms, max=126313.8ms + sensor_polling: mean=308.6ms, total=84.55s, count=274, min=288.5ms, max=500.8ms + save_trajectories: mean=8.39s, total=8.39s, count=1, min=8390.4ms, max=8390.4ms + physics_step: mean=20.1ms, total=5.52s, count=274, min=14.2ms, max=23.4ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3287.1ms, max=3287.1ms + task_specific_sample: mean=313.9ms, total=2.51s, count=8, min=162.2ms, max=378.9ms + task_sampling: mean=338.1ms, total=2.37s, count=7, min=325.1ms, max=382.7ms + task_sampling_failed: mean=165.5ms, total=165.5ms, count=1, min=165.5ms, max=165.5ms + scene_randomize: mean=1.2ms, total=9.6ms, count=8, min=1.0ms, max=2.6ms + mj_forward_sync: mean=415.9us, total=3.3ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=11.6us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:20:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:20:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:20:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:20:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:20:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:20:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:20:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136484m [env.py: 870] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:20:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21440796 -1.12097659 -0.13648413] yaw=-28.3deg [env.py: 1019] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:20:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.4ms [env.py: 1075] +05/11 22:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.121, -0.136) [env.py: 1079] +05/11 22:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.3 deg [env.py: 1082] +05/11 22:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/11 22:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:20:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:20:51 INFO: [Worker 0] Worker 0 house 1 episode 236/240 collected=0/40 [pipeline.py: 1044] +05/11 22:20:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 22:20:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:20:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:20:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:20:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.250s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:20:53 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.742[m] 86.265[deg] [grasp_sample.py: 539] +05/11 22:20:54 ERROR: [Worker 0] Worker 0 house 1 episode 236 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:20:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:20:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:20:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:20:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:20:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:20:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:20:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:20:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:20:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144806m [env.py: 870] +05/11 22:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:20:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=602.9ms, total=603.0ms [env.py: 1105] +05/11 22:20:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:20:56 ERROR: [Worker 0] Worker 0 house 1 episode 237 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:20:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:20:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:20:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:20:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:20:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:20:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:20:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137957m [env.py: 870] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:20:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31484434 -1.23846469 -0.13795725] yaw=-29.7deg [env.py: 1019] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:20:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.3ms [env.py: 1075] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.238, -0.138) [env.py: 1079] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.7 deg [env.py: 1082] +05/11 22:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:20:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:20:58 INFO: [Worker 0] Worker 0 house 1 episode 238/240 collected=0/40 [pipeline.py: 1044] +05/11 22:20:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 22:20:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:20:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:20:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:21:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.181s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:21:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.623[m] 84.996[deg] [grasp_sample.py: 539] +05/11 22:21:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:21:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:21:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:21:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:21:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:21:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:21:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:22:28 INFO: [Worker 0] Worker 0 house 1 episode 238 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:22:46 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:22:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:22:46 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/11 22:22:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:22:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:22:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.46s (batch: 3.11s, save: 8.35s) [pipeline.py: 300] +05/11 22:22:58 INFO: [Worker 0] [PROFILE] Episode 238 house 1 success=True episode_total=0.81s: + episode_total: mean=41.88s, total=125.63s, count=3, min=611.8ms, max=121126.0ms + sensor_polling: mean=307.2ms, total=80.48s, count=262, min=287.3ms, max=497.3ms + save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.0ms, max=8345.0ms + physics_step: mean=20.4ms, total=5.34s, count=262, min=14.8ms, max=24.4ms + save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3112.3ms, max=3112.3ms + task_specific_sample: mean=470.6ms, total=1.41s, count=3, min=394.1ms, max=607.7ms + task_sampling: mean=404.5ms, total=809.1ms, count=2, min=396.3ms, max=412.8ms + task_sampling_failed: mean=611.7ms, total=611.7ms, count=1, min=611.7ms, max=611.7ms + scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.8ms + mj_forward_sync: mean=411.0us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:23:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:23:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:23:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:23:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:23:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:23:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:23:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132312m [env.py: 870] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:23:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51984447 -0.90568046 -0.13231194] yaw=-73.1deg [env.py: 1019] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:23:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.3ms [env.py: 1075] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.906, -0.132) [env.py: 1079] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg [env.py: 1082] +05/11 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:23:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:23:00 INFO: [Worker 0] Worker 0 house 1 episode 239/240 collected=0/40 [pipeline.py: 1044] +05/11 22:23:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 22:23:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:23:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:23:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:23:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.698s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:23:09 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.754[m] 102.269[deg] [grasp_sample.py: 539] +05/11 22:23:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:23:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:23:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:23:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:23:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:24:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:24:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:24:44 INFO: [Worker 0] Worker 0 house 1 episode 239 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:25:05 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/3drawers/sim_chunks/chunk_002 [pipeline.py: 1174] +05/11 22:25:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:25:05 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/11 22:25:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:25:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002 [save_utils.py: 785] +05/11 22:25:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.10s (batch: 3.27s, save: 8.83s) [pipeline.py: 300] +05/11 22:25:17 INFO: [Worker 0] [PROFILE] Episode 239 house 1 success=True episode_total=0.45s: + episode_total: mean=137.90s, total=137.90s, count=1, min=137903.4ms, max=137903.4ms + sensor_polling: mean=307.4ms, total=87.61s, count=285, min=285.2ms, max=532.5ms + save_trajectories: mean=8.83s, total=8.83s, count=1, min=8828.8ms, max=8828.8ms + physics_step: mean=20.2ms, total=5.75s, count=285, min=14.3ms, max=22.3ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3267.6ms, max=3267.6ms + task_sampling: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms + task_specific_sample: mean=446.8ms, total=446.8ms, count=1, min=446.8ms, max=446.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=423.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:25:19 WARNING: [Worker 0] No trajectory data to save for chunk_002 [pipeline.py: 234] +05/11 22:25:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:25:19 INFO: [Worker 0] Preparing episode data: 71 timesteps [save_utils.py: 278] +05/11 22:25:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:25:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/debug/chunk_002 [save_utils.py: 785] +05/11 22:25:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 4.08s (batch: 1.93s, save: 2.15s) [pipeline.py: 300] +05/11 22:25:23 INFO: [Worker 0] Worker 0 completed house 1: 43/52 successful episodes [pipeline.py: 1323] +05/11 22:25:23 INFO: [Worker 0] [PROFILE] House 1 complete: 43/52 successful, 52 episodes, total_time=18787.32s + House averages: + episode_total: mean=45.30s, total=10871.16s, count=240, min=163.5ms, max=281286.2ms + sensor_polling: mean=433.5ms, total=6586.73s, count=15194, min=262.2ms, max=4711.9ms + save_trajectories: mean=11.18s, total=480.67s, count=43, min=8256.0ms, max=13978.9ms + physics_step: mean=27.3ms, total=415.18s, count=15194, min=12.7ms, max=154.5ms + save_batch_prep: mean=4.14s, total=178.23s, count=43, min=3112.3ms, max=5816.6ms + task_specific_sample: mean=503.8ms, total=120.92s, count=240, min=160.9ms, max=1036.3ms + task_sampling: mean=605.4ms, total=94.44s, count=156, min=325.1ms, max=4511.4ms + task_sampling_failed: mean=367.9ms, total=30.90s, count=84, min=163.5ms, max=962.8ms + scene_load: mean=3.47s, total=3.47s, count=1, min=3472.5ms, max=3472.5ms + scene_env_create: mean=1.80s, total=1.80s, count=1, min=1799.2ms, max=1799.2ms + scene_compile: mean=1.51s, total=1.51s, count=1, min=1507.3ms, max=1507.3ms + compile_mujoco: mean=955.2ms, total=955.2ms, count=1, min=955.2ms, max=955.2ms + compile_xml_load: mean=418.8ms, total=418.8ms, count=1, min=418.8ms, max=418.8ms + scene_randomize: mean=1.6ms, total=376.5ms, count=240, min=0.9ms, max=6.5ms + mj_forward_sync: mean=538.6us, total=129.3ms, count=240, min=0.4ms, max=0.9ms + scene_init: mean=116.8ms, total=116.8ms, count=1, min=116.8ms, max=116.8ms + compile_aux_objects: mean=95.0ms, total=95.0ms, count=1, min=95.0ms, max=95.0ms + compile_aux_policy_objects: mean=95.0ms, total=95.0ms, count=1, min=95.0ms, max=95.0ms + scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + asset_install_grasps: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms + compile_robot_add: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=14.2us, total=2.2ms, count=156, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 22:25:23 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 22:25:23 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 52 episodes, total_time=18787.32s + Worker averages: + episode_total: mean=45.30s, total=10871.16s, count=240, min=163.5ms, max=281286.2ms + sensor_polling: mean=433.5ms, total=6586.73s, count=15194, min=262.2ms, max=4711.9ms + save_trajectories: mean=11.18s, total=480.67s, count=43, min=8256.0ms, max=13978.9ms + physics_step: mean=27.3ms, total=415.18s, count=15194, min=12.7ms, max=154.5ms + save_batch_prep: mean=4.14s, total=178.23s, count=43, min=3112.3ms, max=5816.6ms + task_specific_sample: mean=503.8ms, total=120.92s, count=240, min=160.9ms, max=1036.3ms + task_sampling: mean=605.4ms, total=94.44s, count=156, min=325.1ms, max=4511.4ms + task_sampling_failed: mean=367.9ms, total=30.90s, count=84, min=163.5ms, max=962.8ms + scene_load: mean=3.47s, total=3.47s, count=1, min=3472.5ms, max=3472.5ms + scene_env_create: mean=1.80s, total=1.80s, count=1, min=1799.2ms, max=1799.2ms + scene_compile: mean=1.51s, total=1.51s, count=1, min=1507.3ms, max=1507.3ms + compile_mujoco: mean=955.2ms, total=955.2ms, count=1, min=955.2ms, max=955.2ms + compile_xml_load: mean=418.8ms, total=418.8ms, count=1, min=418.8ms, max=418.8ms + scene_randomize: mean=1.6ms, total=376.5ms, count=240, min=0.9ms, max=6.5ms + mj_forward_sync: mean=538.6us, total=129.3ms, count=240, min=0.4ms, max=0.9ms + scene_init: mean=116.8ms, total=116.8ms, count=1, min=116.8ms, max=116.8ms + compile_aux_objects: mean=95.0ms, total=95.0ms, count=1, min=95.0ms, max=95.0ms + compile_aux_policy_objects: mean=95.0ms, total=95.0ms, count=1, min=95.0ms, max=95.0ms + scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + asset_install_grasps: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms + compile_robot_add: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=14.2us, total=2.2ms, count=156, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=239, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 22:25:25 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 22:25:25 INFO: Success count: 43, Total count: 52 [pipeline.py: 1491] +05/11 22:25:25 INFO: Success rate: 82.69% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_003/experiment_config_20260511_223313.pkl b/3drawers/sim_chunks/chunk_003/experiment_config_20260511_223313.pkl new file mode 100644 index 0000000000000000000000000000000000000000..272f2d84cce532276eb051196d0f261fa40b45ff --- /dev/null +++ b/3drawers/sim_chunks/chunk_003/experiment_config_20260511_223313.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9b0c3a67048262fd37c9e01f6a07dc0ebc28222ec316ebe7f27d4992bc3a3bc +size 8146 diff --git a/3drawers/sim_chunks/chunk_003/experiment_config_20260511_223314.pkl b/3drawers/sim_chunks/chunk_003/experiment_config_20260511_223314.pkl new file mode 100644 index 0000000000000000000000000000000000000000..19df81c36fd2d0d8c6de825c5f87c918e5ff09aa --- /dev/null +++ b/3drawers/sim_chunks/chunk_003/experiment_config_20260511_223314.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7dac31495cfdd87d2840bedb2b7f35b79d0406d9e4474873e4fc64ad2d92a25 +size 8146 diff --git a/3drawers/sim_chunks/chunk_003/running_log.log b/3drawers/sim_chunks/chunk_003/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..f54326ebbf156f7051f07bf2acd1551eb692d0ea --- /dev/null +++ b/3drawers/sim_chunks/chunk_003/running_log.log @@ -0,0 +1,14713 @@ +05/11 22:33:13 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 22:33:13 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 22:33:13 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 22:33:13 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_003'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40303, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 22:33:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 22:33:13 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 22:33:13 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 22:33:13 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 22:33:13 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 22:33:13 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 22:33:13 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_003'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40302, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 22:33:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 22:33:13 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 22:33:13 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 22:33:13 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 22:33:13 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 22:33:13 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 22:33:13 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_003'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40301, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 22:33:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 22:33:13 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 22:33:13 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 22:33:14 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 22:33:14 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 22:33:14 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 22:33:14 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_003'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40304, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 22:33:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 22:33:14 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 22:33:14 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 22:33:14 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 22:33:14 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 22:33:14 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 22:33:14 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 22:33:18 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 22:33:18 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 22:33:18 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 22:33:18 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 22:33:18 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 22:33:18 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 22:33:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185278m [env.py: 870] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:18 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 22:33:18 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 22:33:18 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 22:33:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113076m [env.py: 870] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:18 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 22:33:18 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 22:33:18 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 22:33:18 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 22:33:18 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 22:33:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:18 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119419m [env.py: 870] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:18 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 22:33:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181280m [env.py: 870] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:18 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52471463 -0.94865114 -0.18527776] yaw=-54.3deg [env.py: 1019] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3055695 -0.95884401 -0.18527776] yaw=-48.8deg [env.py: 1019] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4626839 -0.97683728 -0.18527776] yaw=-59.3deg [env.py: 1019] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=44.8ms, retries=389.9ms, total=434.7ms [env.py: 1075] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.949, -0.185) [env.py: 1079] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/11 22:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=22.0ms, retries=393.5ms, total=415.4ms [env.py: 1105] +05/11 22:33:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:33:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=24.4ms, retries=386.1ms, total=410.5ms [env.py: 1105] +05/11 22:33:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:33:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:33:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=29.5ms, retries=459.9ms, total=489.4ms [env.py: 1105] +05/11 22:33:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:33:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:33:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:19 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146810m [env.py: 870] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21872929 -0.93171628 -0.14680984] yaw=-49.9deg [env.py: 1019] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119425m [env.py: 870] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45910092 -0.93810711 -0.14680984] yaw=-51.6deg [env.py: 1019] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.0ms, total=182.1ms [env.py: 1075] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -0.932, -0.147) [env.py: 1079] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112733m [env.py: 870] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=371.2ms, total=371.2ms [env.py: 1105] +05/11 22:33:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:20 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=372.3ms, total=372.4ms [env.py: 1105] +05/11 22:33:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:33:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:33:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132162m [env.py: 870] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.66323693 -0.9785548 -0.13216173] yaw=-68.6deg [env.py: 1019] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136497m [env.py: 870] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=220.9ms, total=221.0ms [env.py: 1075] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.663, -0.979, -0.132) [env.py: 1079] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg [env.py: 1082] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29766161 -1.01065032 -0.13649703] yaw=-49.4deg [env.py: 1019] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15241043 -1.09628136 -0.13649703] yaw=-42.4deg [env.py: 1019] +05/11 22:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:33:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:22 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=522.7ms, total=522.8ms [env.py: 1075] +05/11 22:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.011, -0.136) [env.py: 1079] +05/11 22:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/11 22:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/11 22:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:22 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:49 INFO: [Worker 0] Warmed up parallel IK solver in 30.621s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:50 INFO: [Worker 0] Warmed up parallel IK solver in 29.831s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.520s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:33:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.699[m] 83.944[deg] [grasp_sample.py: 539] +05/11 22:33:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:33:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.499s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:33:52 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:33:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:33:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 29.991s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 30.700s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.534s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:33:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.639[m] 100.528[deg] [grasp_sample.py: 539] +05/11 22:33:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199844m [env.py: 870] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18236409 -1.01696871 -0.19984384] yaw=-48.9deg [env.py: 1019] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33467973 -0.95508259 -0.19984384] yaw=-54.4deg [env.py: 1019] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36144239 -1.05981776 -0.19984384] yaw=-57.9deg [env.py: 1019] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.9ms, total=175.9ms [env.py: 1075] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -1.017, -0.200) [env.py: 1079] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/11 22:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:54 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.827s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:33:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.791[m] 83.308[deg] [grasp_sample.py: 539] +05/11 22:33:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:33:55 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:33:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.496s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:33:55 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:33:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166919m [env.py: 870] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49833021 -0.84914992 -0.16691859] yaw=-56.0deg [env.py: 1019] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=367.6ms, total=367.7ms [env.py: 1075] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.849, -0.167) [env.py: 1079] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/11 22:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:56 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183900m [env.py: 870] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=242.7ms, total=242.8ms [env.py: 1105] +05/11 22:33:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:33:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103228m [env.py: 870] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.8ms, total=217.9ms [env.py: 1105] +05/11 22:33:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127005m [env.py: 870] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56424968 -0.98606774 -0.1270055 ] yaw=-67.9deg [env.py: 1019] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=277.5ms, total=277.5ms [env.py: 1075] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.986, -0.127) [env.py: 1079] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.946s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:33:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.779[m] 80.983[deg] [grasp_sample.py: 539] +05/11 22:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:33:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:33:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160385m [env.py: 870] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2649615 -1.0020643 -0.16038498] yaw=-55.5deg [env.py: 1019] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=223.7ms, total=223.8ms [env.py: 1075] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.002, -0.160) [env.py: 1079] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/11 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:33:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:33:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:59 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:33:59 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/11 22:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 22:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:33:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:33:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:33:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:33:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:34:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:34:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.863s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:34:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.664[m] 86.451[deg] [grasp_sample.py: 539] +05/11 22:34:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:34:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:34:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:34:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.173s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:34:03 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.740[m] 89.085[deg] [grasp_sample.py: 539] +05/11 22:34:04 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:34:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:34:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:34:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:34:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:34:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:34:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:34:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132234m [env.py: 870] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:34:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=199.7ms, total=199.7ms [env.py: 1105] +05/11 22:34:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:34:06 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:34:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:34:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:34:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:34:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:34:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:34:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:34:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110257m [env.py: 870] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:34:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.259747 -1.19647958 -0.11025709] yaw=-29.5deg [env.py: 1019] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:34:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=387.6ms, total=387.7ms [env.py: 1075] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.196, -0.110) [env.py: 1079] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.5 deg [env.py: 1082] +05/11 22:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:34:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:34:08 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/11 22:34:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:34:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:34:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:34:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:34:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:34:09 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.722[m] 83.568[deg] [grasp_sample.py: 539] +05/11 22:34:10 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:34:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:34:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:34:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:34:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:34:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:34:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:34:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145632m [env.py: 870] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:34:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20109511 -0.93594679 -0.14563201] yaw=-45.5deg [env.py: 1019] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.358561 -0.89915789 -0.14563201] yaw=-54.1deg [env.py: 1019] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:34:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.9ms, total=271.9ms [env.py: 1075] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -0.936, -0.146) [env.py: 1079] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/11 22:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:34:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:34:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:34:12 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/11 22:34:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 22:34:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:34:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:34:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:34:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.286s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:34:14 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:34:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:34:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:34:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:34:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:34:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:34:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:34:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153130m [env.py: 870] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:34:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43974232 -1.01792611 -0.15312987] yaw=-65.0deg [env.py: 1019] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:34:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.0ms, total=212.1ms [env.py: 1075] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -1.018, -0.153) [env.py: 1079] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/11 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:34:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:34:15 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/11 22:34:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:34:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:34:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:34:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:34:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.277s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:34:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.655[m] 86.095[deg] [grasp_sample.py: 539] +05/11 22:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:34:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:34:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:34:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:34:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:34:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:34:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:34:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:34:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.766s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:34:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.497[m] 61.019[deg] [grasp_sample.py: 539] +05/11 22:34:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:34:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:34:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:34:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:34:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:34:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:34:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:34:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.850s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:34:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.497[m] 61.023[deg] [grasp_sample.py: 539] +05/11 22:34:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:34:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:34:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:34:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:34:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:34:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:34:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:34:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:35:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.715s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:35:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.497[m] 61.023[deg] [grasp_sample.py: 539] +05/11 22:35:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:35:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:35:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:35:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:35:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 22:35:15 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 22:35:16 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=False episode_total=1.54s: + episode_total: mean=23.49s, total=117.45s, count=5, min=252.6ms, max=77265.6ms + sensor_polling: mean=353.7ms, total=26.18s, count=74, min=308.3ms, max=547.8ms + task_sampling_failed: mean=2.06s, total=6.17s, count=3, min=252.6ms, max=5539.0ms + scene_load: mean=5.04s, total=5.04s, count=1, min=5038.1ms, max=5038.1ms + scene_env_create: mean=2.79s, total=2.79s, count=1, min=2788.0ms, max=2788.0ms + task_specific_sample: mean=531.1ms, total=2.66s, count=5, min=249.0ms, max=803.0ms + scene_compile: mean=2.02s, total=2.02s, count=1, min=2016.3ms, max=2016.3ms + task_sampling: mean=767.9ms, total=1.54s, count=2, min=730.2ms, max=805.6ms + physics_step: mean=19.5ms, total=1.45s, count=74, min=13.1ms, max=57.4ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1292.6ms, max=1292.6ms + compile_xml_load: mean=635.0ms, total=635.0ms, count=1, min=635.0ms, max=635.0ms + scene_init: mean=156.3ms, total=156.3ms, count=1, min=156.3ms, max=156.3ms + scene_asset_install: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms + asset_install_grasps: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_robot_add: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms + scene_randomize: mean=1.2ms, total=6.0ms, count=5, min=1.0ms, max=1.4ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=545.8us, total=2.7ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:35:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:35:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:35:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:35:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:35:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:35:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:35:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197453m [env.py: 870] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:35:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18804984 -1.04004233 -0.19745284] yaw=-43.5deg [env.py: 1019] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54199671 -0.79028189 -0.19745284] yaw=-65.1deg [env.py: 1019] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:35:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.3ms, total=283.4ms [env.py: 1075] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -1.040, -0.197) [env.py: 1079] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/11 22:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:35:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:35:17 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/11 22:35:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:35:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:35:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:35:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:35:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:35:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:35:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:35:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.003s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:35:31 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 22:35:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:35:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:35:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:35:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194388m [env.py: 870] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:35:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27867076 -1.21522041 -0.19438802] yaw=-42.9deg [env.py: 1019] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35834896 -0.91313536 -0.19438802] yaw=-47.3deg [env.py: 1019] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57848996 -0.86409535 -0.19438802] yaw=-64.9deg [env.py: 1019] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:35:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.6ms, total=240.7ms [env.py: 1075] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.215, -0.194) [env.py: 1079] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/11 22:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:35:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:35:33 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/11 22:35:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/11 22:35:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:35:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:35:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:35:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.096s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:35:35 INFO: [Worker 0] Feasible grasp found 432 (originally 432): w/ 0.159[m] 11.740[deg] [grasp_sample.py: 539] +05/11 22:35:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:35:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:35:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.904s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:35:40 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.584[m] 73.232[deg] [grasp_sample.py: 539] +05/11 22:35:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:35:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:35:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:35:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:35:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:35:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.830s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:35:49 INFO: [Worker 0] Feasible grasp found 145 (originally 145): w/ 0.199[m] 13.505[deg] [grasp_sample.py: 539] +05/11 22:35:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:35:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:35:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:35:50 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:02 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:36:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:36:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:36:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:36:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:36:10 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/11 22:36:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:36:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:36:19 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/11 22:36:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:36:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.393s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:36:21 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.269[m] 11.552[deg] [grasp_sample.py: 539] +05/11 22:36:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:36:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:36:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:36:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:36:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:36:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.59s (batch: 3.64s, save: 8.95s) [pipeline.py: 300] +05/11 22:36:23 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.49s: + episode_total: mean=189.85s, total=189.85s, count=1, min=189854.8ms, max=189854.8ms + sensor_polling: mean=381.0ms, total=105.16s, count=276, min=299.1ms, max=601.1ms + save_trajectories: mean=8.95s, total=8.95s, count=1, min=8954.0ms, max=8954.0ms + physics_step: mean=24.6ms, total=6.79s, count=276, min=19.6ms, max=58.8ms + task_sampling: mean=5.49s, total=5.49s, count=1, min=5489.5ms, max=5489.5ms + scene_load: mean=4.68s, total=4.68s, count=1, min=4677.7ms, max=4677.7ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3638.8ms, max=3638.8ms + scene_env_create: mean=2.59s, total=2.59s, count=1, min=2594.6ms, max=2594.6ms + scene_compile: mean=1.94s, total=1.94s, count=1, min=1940.1ms, max=1940.1ms + compile_mujoco: mean=1.28s, total=1.28s, count=1, min=1284.2ms, max=1284.2ms + task_specific_sample: mean=809.5ms, total=809.5ms, count=1, min=809.5ms, max=809.5ms + compile_xml_load: mean=566.9ms, total=566.9ms, count=1, min=566.9ms, max=566.9ms + scene_init: mean=98.7ms, total=98.7ms, count=1, min=98.7ms, max=98.7ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_robot_add: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + scene_randomize: mean=915.7us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=356.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:36:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149166m [env.py: 870] +05/11 22:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=183.3ms, total=183.3ms [env.py: 1105] +05/11 22:36:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:25 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131228m [env.py: 870] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39714 -0.98006697 -0.13122819] yaw=-54.5deg [env.py: 1019] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.9ms, total=185.0ms [env.py: 1075] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -0.980, -0.131) [env.py: 1079] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/11 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:36:26 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/11 22:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 22:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:36:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:36:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:36:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:36:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.440s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:36:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.718[m] 82.380[deg] [grasp_sample.py: 539] +05/11 22:36:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:36:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:36:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:36:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:36:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:36:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:36:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.44s (batch: 2.74s, save: 8.70s) [pipeline.py: 300] +05/11 22:36:31 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=2.96s: + episode_total: mean=20.75s, total=186.72s, count=9, min=210.3ms, max=136022.8ms + sensor_polling: mean=340.1ms, total=89.78s, count=264, min=302.7ms, max=563.9ms + save_trajectories: mean=8.70s, total=8.70s, count=1, min=8702.3ms, max=8702.3ms + physics_step: mean=22.4ms, total=5.93s, count=264, min=15.0ms, max=30.8ms + task_sampling_failed: mean=1.83s, total=5.50s, count=3, min=210.3ms, max=5061.6ms + scene_load: mean=4.64s, total=4.64s, count=1, min=4637.8ms, max=4637.8ms + task_specific_sample: mean=421.5ms, total=3.79s, count=9, min=206.5ms, max=621.9ms + task_sampling: mean=493.4ms, total=2.96s, count=6, min=411.1ms, max=624.1ms + save_batch_prep: mean=2.74s, total=2.74s, count=1, min=2741.8ms, max=2741.8ms + scene_env_create: mean=2.66s, total=2.66s, count=1, min=2658.9ms, max=2658.9ms + scene_compile: mean=1.83s, total=1.83s, count=1, min=1829.3ms, max=1829.3ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1289.2ms, max=1289.2ms + compile_xml_load: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms + scene_init: mean=95.8ms, total=95.8ms, count=1, min=95.8ms, max=95.8ms + scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_objects: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + compile_robot_add: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms + scene_randomize: mean=1.5ms, total=13.1ms, count=9, min=1.0ms, max=4.3ms + asset_install_objects: mean=12.5ms, total=12.5ms, count=1, min=12.5ms, max=12.5ms + mj_forward_sync: mean=457.9us, total=4.1ms, count=9, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=16.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:36:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130539m [env.py: 870] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.3ms, total=206.3ms [env.py: 1105] +05/11 22:36:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:32 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163366m [env.py: 870] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.0ms, total=192.0ms [env.py: 1105] +05/11 22:36:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:34 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:36:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:36:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 22:36:35 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 22:36:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=1.17s: + episode_total: mean=49.42s, total=197.68s, count=4, min=389.7ms, max=158734.1ms + sensor_polling: mean=404.7ms, total=71.64s, count=177, min=325.6ms, max=598.8ms + task_sampling_failed: mean=2.76s, total=5.52s, count=2, min=389.6ms, max=5126.3ms + scene_load: mean=4.71s, total=4.71s, count=1, min=4705.4ms, max=4705.4ms + physics_step: mean=23.8ms, total=4.22s, count=177, min=15.8ms, max=74.2ms + scene_env_create: mean=2.79s, total=2.79s, count=1, min=2794.4ms, max=2794.4ms + task_specific_sample: mean=490.6ms, total=1.96s, count=4, min=377.8ms, max=587.4ms + scene_compile: mean=1.71s, total=1.71s, count=1, min=1712.8ms, max=1712.8ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1286.4ms, max=1286.4ms + task_sampling: mean=586.1ms, total=1.17s, count=2, min=582.4ms, max=589.9ms + compile_xml_load: mean=338.4ms, total=338.4ms, count=1, min=338.4ms, max=338.4ms + scene_init: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + scene_asset_install: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms + compile_robot_add: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + scene_randomize: mean=1.2ms, total=4.8ms, count=4, min=1.1ms, max=1.3ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=517.9us, total=2.1ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=21.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:36:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128903m [env.py: 870] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.6ms, total=199.6ms [env.py: 1105] +05/11 22:36:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:35 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189021m [env.py: 870] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39384101 -1.02000976 -0.18902122] yaw=-53.6deg [env.py: 1019] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35958707 -0.94250459 -0.18902122] yaw=-47.9deg [env.py: 1019] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=207.2ms, total=207.2ms [env.py: 1075] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -1.020, -0.189) [env.py: 1079] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg [env.py: 1082] +05/11 22:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:36:36 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/11 22:36:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:36:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:36:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:36:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:36:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114628m [env.py: 870] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1105] +05/11 22:36:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.011s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:36:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.688[m] 86.585[deg] [grasp_sample.py: 539] +05/11 22:36:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:36:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:36:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:36:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131487m [env.py: 870] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.1ms, total=230.1ms [env.py: 1105] +05/11 22:36:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:38 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:36:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146657m [env.py: 870] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25589237 -1.03273792 -0.14665727] yaw=-52.5deg [env.py: 1019] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:36:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.0ms, total=202.1ms [env.py: 1075] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.033, -0.147) [env.py: 1079] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/11 22:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:36:40 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/11 22:36:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 22:36:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:36:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:36:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:36:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.088s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:36:46 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.726[m] 85.296[deg] [grasp_sample.py: 539] +05/11 22:36:48 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:36:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167370m [env.py: 870] +05/11 22:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=553.4ms, total=553.5ms [env.py: 1105] +05/11 22:36:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:50 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118578m [env.py: 870] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20390283 -0.94409609 -0.1185784 ] yaw=-41.2deg [env.py: 1019] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:36:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.3ms, total=198.4ms [env.py: 1075] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -0.944, -0.119) [env.py: 1079] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/11 22:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:36:52 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/11 22:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:36:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:36:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:36:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.499s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:36:53 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:36:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145714m [env.py: 870] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=540.7ms, total=540.8ms [env.py: 1105] +05/11 22:36:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:36:55 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:36:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:36:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:36:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:36:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:36:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:36:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107957m [env.py: 870] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:36:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46004596 -1.00463206 -0.10795653] yaw=-51.7deg [env.py: 1019] +05/11 22:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:36:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.7ms, total=265.7ms [env.py: 1075] +05/11 22:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.005, -0.108) [env.py: 1079] +05/11 22:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.7 deg [env.py: 1082] +05/11 22:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/11 22:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:36:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:36:57 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/11 22:36:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:36:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:36:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:36:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:36:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.569s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:36:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.721[m] 82.259[deg] [grasp_sample.py: 539] +05/11 22:37:00 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:37:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:37:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:37:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:37:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:37:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:37:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124100m [env.py: 870] +05/11 22:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:37:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26449439 -1.07283258 -0.12410043] yaw=-40.2deg [env.py: 1019] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57508843 -1.02012808 -0.12410043] yaw=-70.5deg [env.py: 1019] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:37:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=693.0ms, total=693.0ms [env.py: 1075] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.073, -0.124) [env.py: 1079] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/11 22:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 22:37:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:37:02 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/11 22:37:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:37:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:37:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:37:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:37:13 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:37:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.164s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:37:14 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.752[m] 91.104[deg] [grasp_sample.py: 539] +05/11 22:37:15 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:37:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:37:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:37:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141915m [env.py: 870] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57605228 -0.806753 -0.14191459] yaw=-77.8deg [env.py: 1019] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45854826 -1.01714744 -0.14191459] yaw=-65.5deg [env.py: 1019] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30224801 -1.04052377 -0.14191459] yaw=-44.3deg [env.py: 1019] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:37:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=199.2ms, total=199.2ms [env.py: 1075] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.807, -0.142) [env.py: 1079] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.8 deg [env.py: 1082] +05/11 22:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:37:17 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/11 22:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:37:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:37:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:37:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:37:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:37:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:37:30 INFO: [Worker 0] Preparing episode data: 252 timesteps [save_utils.py: 278] +05/11 22:37:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:37:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:37:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.691s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:37:31 INFO: [Worker 0] Feasible grasp found 461 (originally 461): w/ 0.763[m] 89.648[deg] [grasp_sample.py: 539] +05/11 22:37:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:37:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:37:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:37:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:37:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.877s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:37:35 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.126[m] 21.402[deg] [grasp_sample.py: 539] +05/11 22:37:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:37:36 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:37:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:37:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:37:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:37:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:37:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:37:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152208m [env.py: 870] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:37:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18577994 -1.09016086 -0.15220767] yaw=-44.5deg [env.py: 1019] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:37:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.1ms, total=220.1ms [env.py: 1075] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -1.090, -0.152) [env.py: 1079] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg [env.py: 1082] +05/11 22:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:37:38 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/11 22:37:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:37:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:37:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:37:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.332s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:37:40 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.743[m] 89.383[deg] [grasp_sample.py: 539] +05/11 22:37:41 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:37:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:37:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:37:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.32s (batch: 2.75s, save: 8.57s) [pipeline.py: 300] +05/11 22:37:42 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.99s: + episode_total: mean=71.88s, total=143.76s, count=2, min=14661.8ms, max=129100.7ms + sensor_polling: mean=341.4ms, total=85.70s, count=251, min=294.3ms, max=702.5ms + save_trajectories: mean=8.57s, total=8.57s, count=1, min=8566.6ms, max=8566.6ms + physics_step: mean=22.6ms, total=5.67s, count=251, min=14.9ms, max=70.8ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2754.0ms, max=2754.0ms + task_sampling: mean=496.8ms, total=993.7ms, count=2, min=489.4ms, max=504.3ms + task_specific_sample: mean=494.3ms, total=988.6ms, count=2, min=487.1ms, max=501.5ms + scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.1ms, max=1.2ms + mj_forward_sync: mean=502.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:37:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:37:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:37:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:37:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:37:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:37:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:37:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178984m [env.py: 870] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:37:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=182.8ms, total=182.8ms [env.py: 1105] +05/11 22:37:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:37:42 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:37:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:37:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:37:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:37:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:37:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:37:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:37:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145060m [env.py: 870] +05/11 22:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:37:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:37:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:37:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:37:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:37:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189255m [env.py: 870] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:37:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33253178 -0.91098674 -0.18925533] yaw=-59.9deg [env.py: 1019] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53823128 -0.97275009 -0.14506013] yaw=-58.5deg [env.py: 1019] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11702434 -1.05615856 -0.18925533] yaw=-42.5deg [env.py: 1019] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:37:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=739.1ms, total=739.2ms [env.py: 1075] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.973, -0.145) [env.py: 1079] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:37:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=539.6ms, total=539.7ms [env.py: 1075] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.911, -0.189) [env.py: 1079] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg [env.py: 1082] +05/11 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:37:44 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/11 22:37:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:37:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:37:44 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/11 22:37:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 22:37:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:37:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:37:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:37:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:37:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:37:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:37:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:37:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.611s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:37:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.737[m] 94.216[deg] [grasp_sample.py: 539] +05/11 22:37:47 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:37:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:37:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:37:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:37:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:37:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:37:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:37:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186623m [env.py: 870] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:37:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42304587 -1.07280656 -0.18662326] yaw=-51.4deg [env.py: 1019] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:37:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=216.1ms, total=216.1ms [env.py: 1075] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -1.073, -0.187) [env.py: 1079] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/11 22:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:37:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:37:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:37:49 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/11 22:37:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 22:37:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:37:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:37:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:37:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.886s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:37:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.661[m] 91.999[deg] [grasp_sample.py: 539] +05/11 22:37:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:37:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:37:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:37:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:37:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.302s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:37:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.663[m] 90.275[deg] [grasp_sample.py: 539] +05/11 22:37:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:37:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:37:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:37:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:38:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:38:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:38:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:38:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:38:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.538s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:38:20 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.533[m] 68.392[deg] [grasp_sample.py: 539] +05/11 22:38:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:38:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:38:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:38:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:38:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:38:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:38:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:33 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:38:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.283s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:38:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.508[m] 65.028[deg] [grasp_sample.py: 539] +05/11 22:38:34 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:38:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:38:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:38:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:38:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:38:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:38:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:38:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:38:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:38:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164304m [env.py: 870] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:38:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5763767 -1.0193414 -0.1643043] yaw=-52.7deg [env.py: 1019] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:38:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32564103 -1.06422099 -0.1643043 ] yaw=-55.3deg [env.py: 1019] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.1ms [env.py: 1075] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -1.019, -0.164) [env.py: 1079] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/11 22:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:38:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:38:36 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/11 22:38:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 22:38:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:38:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:38:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:38:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.000s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:38:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.657[m] 84.897[deg] [grasp_sample.py: 539] +05/11 22:38:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:38:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:38:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:38:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:38:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.418s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:38:38 INFO: [Worker 0] Feasible grasp found 285 (originally 285): w/ 0.139[m] 7.215[deg] [grasp_sample.py: 539] +05/11 22:38:40 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:38:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:38:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:38:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:38:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:38:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:38:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:38:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196098m [env.py: 870] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:38:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64051005 -0.94071179 -0.19609794] yaw=-63.0deg [env.py: 1019] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:38:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.1ms [env.py: 1075] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.941, -0.196) [env.py: 1079] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/11 22:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:38:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:38:41 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/11 22:38:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:38:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:38:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:38:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:38:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.836s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:38:42 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.668[m] 85.707[deg] [grasp_sample.py: 539] +05/11 22:38:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:38:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:38:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:38:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:38:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:38:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:38:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 22:38:54 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/11 22:38:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:39:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:39:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 10.50s (batch: 2.44s, save: 8.06s) [pipeline.py: 300] +05/11 22:39:05 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s: + episode_total: mean=149.27s, total=149.27s, count=1, min=149273.6ms, max=149273.6ms + sensor_polling: mean=392.0ms, total=106.22s, count=271, min=318.3ms, max=627.7ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8064.0ms, max=8064.0ms + physics_step: mean=24.9ms, total=6.76s, count=271, min=19.2ms, max=101.7ms + save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2438.5ms, max=2438.5ms + task_sampling: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + task_specific_sample: mean=414.8ms, total=414.8ms, count=1, min=414.8ms, max=414.8ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=435.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:39:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:39:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:39:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:39:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:39:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187702m [env.py: 870] +05/11 22:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:39:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62249422 -0.92114386 -0.18770168] yaw=-57.7deg [env.py: 1019] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:39:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.4ms, total=179.5ms [env.py: 1075] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.921, -0.188) [env.py: 1079] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg [env.py: 1082] +05/11 22:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/11 22:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:39:07 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/11 22:39:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 22:39:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.619s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:39:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.687[m] 94.599[deg] [grasp_sample.py: 539] +05/11 22:39:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:39:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:39:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:39:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:39:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.850s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:39:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.502[m] 59.722[deg] [grasp_sample.py: 539] +05/11 22:39:14 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:39:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:39:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:39:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:39:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:39:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:39:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184551m [env.py: 870] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:39:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38496465 -0.79535882 -0.18455101] yaw=-56.5deg [env.py: 1019] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:39:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=527.8ms, total=527.8ms [env.py: 1075] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.795, -0.185) [env.py: 1079] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/11 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:39:16 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 22:39:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:39:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.309s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:39:18 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:39:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:39:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:39:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:39:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119988m [env.py: 870] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=501.2ms, total=501.2ms [env.py: 1105] +05/11 22:39:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:39:19 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:39:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:39:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:39:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194203m [env.py: 870] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=279.9ms, total=279.9ms [env.py: 1105] +05/11 22:39:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:39:21 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:39:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:39:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:39:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:39:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:39:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:39:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135860m [env.py: 870] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:39:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64335045 -0.96957397 -0.13586014] yaw=-68.7deg [env.py: 1019] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30468482 -1.19653033 -0.13586014] yaw=-42.9deg [env.py: 1019] +05/11 22:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:39:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=389.5ms, total=389.5ms [env.py: 1075] +05/11 22:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.643, -0.970, -0.136) [env.py: 1079] +05/11 22:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg [env.py: 1082] +05/11 22:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/11 22:39:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:39:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:39:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:39:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:39:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:39:23 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/11 22:39:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 22:39:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.904s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:39:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.649[m] 84.109[deg] [grasp_sample.py: 539] +05/11 22:39:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:39:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:39:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:39:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:39:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.391s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:39:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.540[m] 69.388[deg] [grasp_sample.py: 539] +05/11 22:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:39:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:39:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:39:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:40 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:39:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.568s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:39:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.540[m] 69.392[deg] [grasp_sample.py: 539] +05/11 22:39:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:39:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:39:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:39:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:39:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:39:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:39:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:39:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:39:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/11 22:39:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.388s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:39:58 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.051[m] 0.595[deg] [grasp_sample.py: 539] +05/11 22:39:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:39:58 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:39:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:39:58 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/11 22:39:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:39:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:39:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.629s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:39:59 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.474[m] 52.904[deg] [grasp_sample.py: 539] +05/11 22:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:00 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163121m [env.py: 870] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.6ms, total=207.6ms [env.py: 1105] +05/11 22:40:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:40:02 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144975m [env.py: 870] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=187.0ms, total=187.0ms [env.py: 1105] +05/11 22:40:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:40:03 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:40:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:40:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:40:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188346m [env.py: 870] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61515671 -0.98289153 -0.18834589] yaw=-64.3deg [env.py: 1019] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26297945 -1.17021924 -0.18834589] yaw=-28.8deg [env.py: 1019] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:40:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.4ms [env.py: 1075] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.983, -0.188) [env.py: 1079] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg [env.py: 1082] +05/11 22:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:40:05 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/11 22:40:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 22:40:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.575s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:40:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.540[m] 69.392[deg] [grasp_sample.py: 539] +05/11 22:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:40:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:40:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.817s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:40:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.607[m] 93.359[deg] [grasp_sample.py: 539] +05/11 22:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:40:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:40:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:40:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:40:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:40:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.13s (batch: 3.29s, save: 8.84s) [pipeline.py: 300] +05/11 22:40:11 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.05s: + episode_total: mean=36.67s, total=220.00s, count=6, min=192.4ms, max=142166.8ms + sensor_polling: mean=350.7ms, total=144.12s, count=411, min=295.6ms, max=685.4ms + physics_step: mean=22.8ms, total=9.38s, count=411, min=14.6ms, max=59.3ms + save_trajectories: mean=8.84s, total=8.84s, count=1, min=8841.6ms, max=8841.6ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3292.3ms, max=3292.3ms + task_specific_sample: mean=403.5ms, total=2.42s, count=6, min=188.3ms, max=792.0ms + task_sampling: mean=513.5ms, total=2.05s, count=4, min=394.2ms, max=794.7ms + task_sampling_failed: mean=192.9ms, total=385.8ms, count=2, min=192.4ms, max=193.4ms + scene_randomize: mean=1.4ms, total=8.4ms, count=6, min=1.1ms, max=2.3ms + mj_forward_sync: mean=442.7us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=20.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:40:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130322m [env.py: 870] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.0ms, total=198.0ms [env.py: 1105] +05/11 22:40:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177691m [env.py: 870] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1105] +05/11 22:40:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:40:14 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109489m [env.py: 870] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3471163 -1.02541394 -0.10948898] yaw=-49.6deg [env.py: 1019] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.7ms, total=199.8ms [env.py: 1075] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.025, -0.109) [env.py: 1079] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/11 22:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:40:16 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/11 22:40:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 22:40:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:40:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.734[m] 85.788[deg] [grasp_sample.py: 539] +05/11 22:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:40:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:40:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 22:40:18 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 22:40:18 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=0.37s: + episode_total: mean=71.29s, total=71.29s, count=1, min=71293.3ms, max=71293.3ms + sensor_polling: mean=380.5ms, total=27.78s, count=73, min=326.8ms, max=651.6ms + physics_step: mean=19.2ms, total=1.40s, count=73, min=12.8ms, max=51.6ms + task_sampling: mean=366.9ms, total=366.9ms, count=1, min=366.9ms, max=366.9ms + task_specific_sample: mean=363.6ms, total=363.6ms, count=1, min=363.6ms, max=363.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=362.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:40:18 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:40:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182193m [env.py: 870] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12785907 -1.03378259 -0.18219261] yaw=-42.0deg [env.py: 1019] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:40:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms [env.py: 1075] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.128, -1.034, -0.182) [env.py: 1079] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/11 22:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:40:20 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/11 22:40:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 22:40:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127137m [env.py: 870] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35829391 -1.15440647 -0.12713724] yaw=-43.4deg [env.py: 1019] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48923216 -1.03300414 -0.12713724] yaw=-60.4deg [env.py: 1019] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:40:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.4ms [env.py: 1075] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -1.154, -0.127) [env.py: 1079] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/11 22:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:40:20 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/11 22:40:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 22:40:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.470s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:40:21 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:40:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:40:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.638[m] 79.733[deg] [grasp_sample.py: 539] +05/11 22:40:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:40:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:40:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171340m [env.py: 870] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.4ms, total=202.5ms [env.py: 1105] +05/11 22:40:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:40:23 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:40:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:40:23 INFO: [Worker 0] Object is not in grasp! 0.00107 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:40:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:40:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.328s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:40:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.051[m] 0.533[deg] [grasp_sample.py: 539] +05/11 22:40:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:40:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150631m [env.py: 870] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36098543 -0.90192177 -0.15063057] yaw=-51.1deg [env.py: 1019] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:40:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.9ms [env.py: 1075] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.902, -0.151) [env.py: 1079] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/11 22:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:40:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:40:25 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/11 22:40:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:40:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:40:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:43 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:40:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 25.109s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:40:50 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 22:40:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190589m [env.py: 870] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33493711 -0.83160059 -0.19058908] yaw=-44.9deg [env.py: 1019] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51609133 -0.79354178 -0.19058908] yaw=-76.4deg [env.py: 1019] +05/11 22:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:40:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=501.8ms, total=501.8ms [env.py: 1075] +05/11 22:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.832, -0.191) [env.py: 1079] +05/11 22:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/11 22:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/11 22:40:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:40:52 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/11 22:40:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 22:40:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:40:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.342s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:40:53 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:40:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164623m [env.py: 870] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.0ms, total=194.0ms [env.py: 1105] +05/11 22:40:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:40:55 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:40:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:40:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:40:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:40:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:40:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:40:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161352m [env.py: 870] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:40:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55050608 -0.79605933 -0.16135219] yaw=-65.4deg [env.py: 1019] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:40:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=204.9ms, total=205.0ms [env.py: 1075] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -0.796, -0.161) [env.py: 1079] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/11 22:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:40:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:40:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:40:57 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/11 22:40:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 22:40:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:40:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:40:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:41:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:41:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:41:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:41:13 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:41:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:41:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 367 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:14 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.051[m] 0.592[deg] [grasp_sample.py: 539] +05/11 22:41:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:41:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.267s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.771[m] 94.780[deg] [grasp_sample.py: 539] +05/11 22:41:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:41:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:15 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:41:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158660m [env.py: 870] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53771582 -0.71768562 -0.15866005] yaw=-62.3deg [env.py: 1019] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27444023 -1.10802747 -0.15866005] yaw=-53.7deg [env.py: 1019] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3070133 -1.02599047 -0.15866005] yaw=-47.6deg [env.py: 1019] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.7ms [env.py: 1075] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.718, -0.159) [env.py: 1079] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/11 22:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:17 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.348s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:41:18 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:41:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166709m [env.py: 870] +05/11 22:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=263.3ms, total=263.3ms [env.py: 1105] +05/11 22:41:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:41:20 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:41:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:41:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:41:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.19s (batch: 3.49s, save: 9.71s) [pipeline.py: 300] +05/11 22:41:21 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.45s: + episode_total: mean=107.82s, total=215.64s, count=2, min=50957.8ms, max=164685.0ms + sensor_polling: mean=348.4ms, total=123.32s, count=354, min=301.9ms, max=539.8ms + save_trajectories: mean=9.71s, total=9.71s, count=1, min=9707.7ms, max=9707.7ms + physics_step: mean=22.9ms, total=8.12s, count=354, min=14.8ms, max=176.3ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3486.1ms, max=3486.1ms + task_sampling: mean=725.7ms, total=1.45s, count=2, min=445.6ms, max=1005.8ms + task_specific_sample: mean=722.6ms, total=1.45s, count=2, min=442.9ms, max=1002.3ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms + mj_forward_sync: mean=426.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190815m [env.py: 870] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=248.4ms, total=248.4ms [env.py: 1105] +05/11 22:41:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:41:21 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:41:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170427m [env.py: 870] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60437983 -0.82925555 -0.17042728] yaw=-71.7deg [env.py: 1019] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29115869 -1.14246451 -0.17042728] yaw=-52.0deg [env.py: 1019] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.1ms, total=230.2ms [env.py: 1075] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.604, -0.829, -0.170) [env.py: 1079] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.7 deg [env.py: 1082] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:22 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176774m [env.py: 870] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33916407 -0.91049257 -0.17677419] yaw=-54.6deg [env.py: 1019] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms [env.py: 1075] +05/11 22:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -0.910, -0.177) [env.py: 1079] +05/11 22:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/11 22:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/11 22:41:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:41:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:23 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.461s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:24 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.734[m] 77.951[deg] [grasp_sample.py: 539] +05/11 22:41:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.633s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.702[m] 92.894[deg] [grasp_sample.py: 539] +05/11 22:41:26 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:41:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:41:26 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:41:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188718m [env.py: 870] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41236732 -1.08036643 -0.18871784] yaw=-55.2deg [env.py: 1019] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4705807 -0.76988228 -0.18871784] yaw=-65.9deg [env.py: 1019] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.2ms, total=262.2ms [env.py: 1075] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -1.080, -0.189) [env.py: 1079] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/11 22:41:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:27 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107229m [env.py: 870] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.5ms, total=196.6ms [env.py: 1105] +05/11 22:41:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:41:28 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:41:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.516s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.607[m] 94.651[deg] [grasp_sample.py: 539] +05/11 22:41:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116398m [env.py: 870] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3251522 -1.13750186 -0.11639829] yaw=-47.9deg [env.py: 1019] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.5ms [env.py: 1075] +05/11 22:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.138, -0.116) [env.py: 1079] +05/11 22:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/11 22:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/11 22:41:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:30 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:30 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:41:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.397s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.728[m] 84.327[deg] [grasp_sample.py: 539] +05/11 22:41:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:41:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151013m [env.py: 870] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51303685 -0.84746925 -0.15101331] yaw=-68.5deg [env.py: 1019] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:41:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.3ms, total=191.3ms [env.py: 1075] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.847, -0.151) [env.py: 1079] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/11 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:32 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.805s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:38 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.769[m] 100.702[deg] [grasp_sample.py: 539] +05/11 22:41:39 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:41:39 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/11 22:41:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169579m [env.py: 870] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.7ms, total=197.8ms [env.py: 1105] +05/11 22:41:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:41:41 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:41:41 INFO: [Worker 0] Object is not in grasp! 0.00118 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:41:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:41:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 385 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.354s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:42 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.450[deg] [grasp_sample.py: 539] +05/11 22:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:41:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:41:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179454m [env.py: 870] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51323146 -0.93073514 -0.17945437] yaw=-61.1deg [env.py: 1019] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=507.6ms, total=507.6ms [env.py: 1075] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.931, -0.179) [env.py: 1079] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/11 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/11 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:43 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.759s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.704[m] 96.422[deg] [grasp_sample.py: 539] +05/11 22:41:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:45 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:41:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106158m [env.py: 870] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46760581 -0.7477105 -0.10615774] yaw=-72.8deg [env.py: 1019] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42368736 -1.03647429 -0.10615774] yaw=-43.4deg [env.py: 1019] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.9ms [env.py: 1075] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.748, -0.106) [env.py: 1079] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg [env.py: 1082] +05/11 22:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:47 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:41:49 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:41:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120157m [env.py: 870] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35444274 -1.17887383 -0.12015717] yaw=-52.3deg [env.py: 1019] +05/11 22:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=652.0ms, total=652.1ms [env.py: 1075] +05/11 22:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -1.179, -0.120) [env.py: 1079] +05/11 22:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/11 22:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/11 22:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:51 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.480s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.602[m] 93.783[deg] [grasp_sample.py: 539] +05/11 22:41:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:41:54 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:41:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:41:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:41:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:41:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:41:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:41:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191352m [env.py: 870] +05/11 22:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:41:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59557227 -0.89504848 -0.19135171] yaw=-64.1deg [env.py: 1019] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:41:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=246.3ms, total=246.4ms [env.py: 1075] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.895, -0.191) [env.py: 1079] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/11 22:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/11 22:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:41:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:41:56 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 22:41:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:41:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:41:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:41:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:41:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:41:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.847s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:41:58 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.661[m] 76.096[deg] [grasp_sample.py: 539] +05/11 22:41:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:41:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:41:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:42:09 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:42:13 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:42:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:42:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:42:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:42:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:42:32 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:42:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:42:32 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/11 22:42:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:42:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:42:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:42:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.91s (batch: 3.30s, save: 8.61s) [pipeline.py: 300] +05/11 22:42:44 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.86s: + episode_total: mean=37.04s, total=148.18s, count=4, min=208.1ms, max=144629.2ms + sensor_polling: mean=384.5ms, total=101.14s, count=263, min=296.4ms, max=774.2ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8605.2ms, max=8605.2ms + physics_step: mean=26.3ms, total=6.92s, count=263, min=14.8ms, max=91.6ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3300.3ms, max=3300.3ms + task_specific_sample: mean=316.4ms, total=1.27s, count=4, min=203.6ms, max=437.5ms + task_sampling: mean=428.1ms, total=856.2ms, count=2, min=416.6ms, max=439.6ms + task_sampling_failed: mean=210.7ms, total=421.3ms, count=2, min=208.1ms, max=213.2ms + scene_randomize: mean=1.3ms, total=5.4ms, count=4, min=0.9ms, max=2.5ms + mj_forward_sync: mean=410.8us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:42:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:42:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:42:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.63s (batch: 3.74s, save: 9.90s) [pipeline.py: 300] +05/11 22:42:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:42:45 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=4.96s: + episode_total: mean=17.41s, total=348.22s, count=20, min=196.2ms, max=160595.1ms + sensor_polling: mean=361.1ms, total=196.83s, count=545, min=293.8ms, max=721.3ms + physics_step: mean=23.7ms, total=12.90s, count=545, min=14.6ms, max=106.9ms + save_trajectories: mean=9.90s, total=9.90s, count=1, min=9897.2ms, max=9897.2ms + task_specific_sample: mean=414.7ms, total=8.29s, count=20, min=192.5ms, max=983.9ms + task_sampling: mean=550.8ms, total=4.96s, count=9, min=412.2ms, max=986.6ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3737.3ms, max=3737.3ms + task_sampling_failed: mean=309.4ms, total=3.40s, count=11, min=196.1ms, max=563.2ms + scene_randomize: mean=1.3ms, total=25.4ms, count=20, min=1.0ms, max=2.4ms + mj_forward_sync: mean=468.5us, total=9.4ms, count=20, min=0.4ms, max=0.6ms + policy_setup: mean=15.1us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=20, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:42:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:42:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:42:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:42:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:42:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:42:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158015m [env.py: 870] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:42:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.0ms, total=185.0ms [env.py: 1105] +05/11 22:42:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:42:46 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:42:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:42:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:42:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:42:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:42:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:42:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108349m [env.py: 870] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:42:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40946846 -0.96833319 -0.10834868] yaw=-52.2deg [env.py: 1019] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31477522 -0.91689172 -0.10834868] yaw=-57.1deg [env.py: 1019] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.3ms [env.py: 1075] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.968, -0.108) [env.py: 1079] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:42:47 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/11 22:42:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:42:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:42:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:42:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:42:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:42:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124316m [env.py: 870] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:42:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 22:42:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:42:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=188.4ms, total=188.4ms [env.py: 1105] +05/11 22:42:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:42:47 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:42:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:42:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:42:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:42:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:42:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:42:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:42:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177172m [env.py: 870] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:42:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47066521 -0.95354458 -0.17717169] yaw=-65.2deg [env.py: 1019] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:42:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.4ms [env.py: 1075] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.954, -0.177) [env.py: 1079] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/11 22:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:42:49 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/11 22:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 22:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:42:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:42:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:42:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.901s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:42:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.696[m] 85.805[deg] [grasp_sample.py: 539] +05/11 22:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:42:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:42:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:42:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:42:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.746s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:42:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.688[m] 83.755[deg] [grasp_sample.py: 539] +05/11 22:42:53 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:42:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:42:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:42:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:42:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:42:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:42:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111961m [env.py: 870] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:42:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27417736 -1.09284077 -0.11196081] yaw=-40.2deg [env.py: 1019] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:42:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.8ms, total=221.8ms [env.py: 1075] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.093, -0.112) [env.py: 1079] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/11 22:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:42:55 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/11 22:42:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:42:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:42:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:42:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:42:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.526s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:42:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.758[m] 80.296[deg] [grasp_sample.py: 539] +05/11 22:42:58 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:42:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:42:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:42:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:42:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:42:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:42:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:42:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:42:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:42:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144353m [env.py: 870] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:42:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=195.9ms, total=196.0ms [env.py: 1105] +05/11 22:43:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:43:00 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:43:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121093m [env.py: 870] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=254.3ms, total=254.3ms [env.py: 1105] +05/11 22:43:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:43:01 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:43:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158379m [env.py: 870] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28124608 -0.96341835 -0.1583786 ] yaw=-56.8deg [env.py: 1019] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51678776 -1.0332596 -0.1583786 ] yaw=-58.1deg [env.py: 1019] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:43:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.1ms, total=239.2ms [env.py: 1075] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.963, -0.158) [env.py: 1079] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg [env.py: 1082] +05/11 22:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/11 22:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:43:03 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/11 22:43:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:43:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:43:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.634s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:43:06 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.774[m] 99.815[deg] [grasp_sample.py: 539] +05/11 22:43:07 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:43:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141688m [env.py: 870] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26795435 -0.99853716 -0.14168809] yaw=-56.7deg [env.py: 1019] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19551093 -1.02102861 -0.14168809] yaw=-50.9deg [env.py: 1019] +05/11 22:43:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:43:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.0ms, total=215.0ms [env.py: 1075] +05/11 22:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -0.999, -0.142) [env.py: 1079] +05/11 22:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/11 22:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/11 22:43:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:43:09 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/11 22:43:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 22:43:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.940s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:43:17 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.762[m] 100.697[deg] [grasp_sample.py: 539] +05/11 22:43:18 INFO: [Worker 0] Object is not in grasp! 0.00142 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:43:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:43:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:18 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:43:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 349 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194696m [env.py: 870] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64831064 -0.90955371 -0.19469569] yaw=-74.4deg [env.py: 1019] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23253728 -0.97121606 -0.19469569] yaw=-57.5deg [env.py: 1019] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:43:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.4ms, total=366.5ms [env.py: 1075] +05/11 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.648, -0.910, -0.195) [env.py: 1079] +05/11 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.4 deg [env.py: 1082] +05/11 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/11 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:43:20 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/11 22:43:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 22:43:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.837s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:43:21 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.119[m] 5.536[deg] [grasp_sample.py: 539] +05/11 22:43:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:43:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:43:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:43:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.112s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:43:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.638[m] 94.108[deg] [grasp_sample.py: 539] +05/11 22:43:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:43:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:43:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:30 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:43:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:43:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.462s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:43:35 INFO: [Worker 0] Feasible grasp found 473 (originally 473): w/ 0.238[m] 18.999[deg] [grasp_sample.py: 539] +05/11 22:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:36 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175805m [env.py: 870] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63505163 -0.90297565 -0.17580502] yaw=-61.1deg [env.py: 1019] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27405132 -1.22128099 -0.17580502] yaw=-30.7deg [env.py: 1019] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.3ms [env.py: 1075] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.635, -0.903, -0.176) [env.py: 1079] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/11 22:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:43:38 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/11 22:43:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 22:43:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.955s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:43:42 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.671[m] 88.025[deg] [grasp_sample.py: 539] +05/11 22:43:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:43:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:43:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:43:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:43:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:43:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.503[m] 68.240[deg] [grasp_sample.py: 539] +05/11 22:43:48 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:43:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:43:48 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/11 22:43:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:43:49 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:43:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161469m [env.py: 870] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=216.1ms, total=216.1ms [env.py: 1105] +05/11 22:43:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:43:50 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148373m [env.py: 870] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.1ms, total=201.2ms [env.py: 1105] +05/11 22:43:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:43:52 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:43:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129056m [env.py: 870] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5361536 -0.73142809 -0.1290563 ] yaw=-67.3deg [env.py: 1019] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49813258 -0.88781935 -0.1290563 ] yaw=-72.9deg [env.py: 1019] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35283666 -0.99301137 -0.1290563 ] yaw=-56.5deg [env.py: 1019] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:43:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms [env.py: 1075] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.731, -0.129) [env.py: 1079] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/11 22:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:43:54 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 22:43:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:43:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.311s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:43:55 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:43:55 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/11 22:43:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:43:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:43:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:43:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:43:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:43:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148442m [env.py: 870] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:43:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48777929 -0.81233609 -0.14844182] yaw=-65.9deg [env.py: 1019] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.4ms, total=198.4ms [env.py: 1075] +05/11 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.812, -0.148) [env.py: 1079] +05/11 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/11 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/11 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:43:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:43:57 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/11 22:43:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:43:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:43:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:43:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:43:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:44:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:44:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:44:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:44:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.15s (batch: 3.95s, save: 9.19s) [pipeline.py: 300] +05/11 22:44:02 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.93s: + episode_total: mean=52.45s, total=157.34s, count=3, min=207.6ms, max=152631.6ms + sensor_polling: mean=375.0ms, total=106.50s, count=284, min=298.2ms, max=656.2ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9193.2ms, max=9193.2ms + physics_step: mean=25.1ms, total=7.12s, count=284, min=14.6ms, max=92.4ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3953.3ms, max=3953.3ms + task_specific_sample: mean=374.3ms, total=1.12s, count=3, min=203.2ms, max=477.6ms + task_sampling: mean=462.7ms, total=925.3ms, count=2, min=444.2ms, max=481.1ms + task_sampling_failed: mean=207.5ms, total=207.5ms, count=1, min=207.5ms, max=207.5ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.0ms, max=2.3ms + mj_forward_sync: mean=481.1us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:44:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:44:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:44:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:44:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:44:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:44:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128279m [env.py: 870] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:44:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.4ms, total=198.5ms [env.py: 1105] +05/11 22:44:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:44:03 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:44:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.779s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:44:05 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 22:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:44:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:44:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174396m [env.py: 870] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.3ms, total=216.3ms [env.py: 1105] +05/11 22:44:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:44:05 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:44:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:44:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:44:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:44:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:44:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:44:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158788m [env.py: 870] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:44:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.7ms, total=213.7ms [env.py: 1105] +05/11 22:44:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:44:06 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:44:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:44:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:44:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:44:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:44:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:44:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151147m [env.py: 870] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:44:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48378017 -0.89026886 -0.15114657] yaw=-56.0deg [env.py: 1019] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59456536 -0.83662326 -0.15114657] yaw=-66.2deg [env.py: 1019] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=232.0ms, total=232.1ms [env.py: 1075] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.890, -0.151) [env.py: 1079] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/11 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:44:07 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/11 22:44:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 22:44:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:44:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:44:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:44:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:44:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:44:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:44:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:44:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:44:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185275m [env.py: 870] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:44:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.67803981 -0.96099993 -0.18527528] yaw=-70.0deg [env.py: 1019] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28735676 -0.95718853 -0.18527528] yaw=-48.6deg [env.py: 1019] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:44:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=208.0ms, total=208.1ms [env.py: 1075] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.678, -0.961, -0.185) [env.py: 1079] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg [env.py: 1082] +05/11 22:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:44:08 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/11 22:44:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 22:44:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:44:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:44:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:44:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.621s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:44:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.610[m] 103.291[deg] [grasp_sample.py: 539] +05/11 22:44:11 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:44:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.303s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:44:11 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.754[m] 95.309[deg] [grasp_sample.py: 539] +05/11 22:44:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:44:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:44:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:44:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:44:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:44:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:44:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:44:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:44:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194428m [env.py: 870] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:44:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57332153 -0.75033637 -0.19442805] yaw=-74.6deg [env.py: 1019] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.53746321 -0.90521701 -0.19442805] yaw=-68.8deg [env.py: 1019] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:44:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:44:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=327.2ms, total=327.2ms [env.py: 1075] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.750, -0.194) [env.py: 1079] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg [env.py: 1082] +05/11 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/11 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:44:13 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/11 22:44:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 22:44:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:44:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:44:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:44:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.287s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:44:14 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:44:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:44:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:44:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:44:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:44:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:44:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148102m [env.py: 870] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:44:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49013585 -0.87223617 -0.14810205] yaw=-51.3deg [env.py: 1019] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:44:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.1ms [env.py: 1075] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.872, -0.148) [env.py: 1079] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/11 22:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:44:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:44:16 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/11 22:44:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:44:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:44:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:44:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:44:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.627s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:44:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.768[m] 78.393[deg] [grasp_sample.py: 539] +05/11 22:44:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:44:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:44:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:44:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:44:44 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:44:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:44:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:44:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:44:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:44:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.889s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:44:55 INFO: [Worker 0] Feasible grasp found 241 (originally 241): w/ 0.193[m] 16.451[deg] [grasp_sample.py: 539] +05/11 22:44:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:44:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:44:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:44:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:44:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:44:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:44:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:45:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:45:04 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/11 22:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.295s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:05 INFO: [Worker 0] Feasible grasp found 663 (originally 663): w/ 0.357[m] 24.961[deg] [grasp_sample.py: 539] +05/11 22:45:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:45:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:45:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:45:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.354s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.191[m] 17.816[deg] [grasp_sample.py: 539] +05/11 22:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:45:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:45:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:45:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:45:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.81s (batch: 3.34s, save: 9.48s) [pipeline.py: 300] +05/11 22:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:17 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.50s: + episode_total: mean=150.36s, total=150.36s, count=1, min=150361.7ms, max=150361.7ms + sensor_polling: mean=353.2ms, total=97.85s, count=277, min=304.4ms, max=622.5ms + save_trajectories: mean=9.48s, total=9.48s, count=1, min=9477.5ms, max=9477.5ms + physics_step: mean=23.6ms, total=6.53s, count=277, min=14.9ms, max=91.9ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3337.4ms, max=3337.4ms + task_sampling: mean=497.9ms, total=497.9ms, count=1, min=497.9ms, max=497.9ms + task_specific_sample: mean=494.1ms, total=494.1ms, count=1, min=494.1ms, max=494.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=437.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:45:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:45:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:45:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:45:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:45:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:45:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176187m [env.py: 870] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:45:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40034443 -1.04991252 -0.17618725] yaw=-52.3deg [env.py: 1019] +05/11 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=421.4ms, total=421.4ms [env.py: 1075] +05/11 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.050, -0.176) [env.py: 1079] +05/11 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/11 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/11 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:45:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:45:19 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/11 22:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 22:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.855s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:23 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.663[m] 82.206[deg] [grasp_sample.py: 539] +05/11 22:45:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:45:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:45:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:45:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.398s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.209[m] 26.547[deg] [grasp_sample.py: 539] +05/11 22:45:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:45:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:45:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.097s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:31 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.137[m] 11.541[deg] [grasp_sample.py: 539] +05/11 22:45:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:45:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:45:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:45:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:45:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.602s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:46 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.116[m] 11.461[deg] [grasp_sample.py: 539] +05/11 22:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:45:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:45:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:45:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 367 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:45:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.533s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.093[m] 13.470[deg] [grasp_sample.py: 539] +05/11 22:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:45:54 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:45:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:45:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:45:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:45:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:45:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:45:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:45:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170111m [env.py: 870] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:45:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.0ms, total=194.0ms [env.py: 1105] +05/11 22:45:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:45:55 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:45:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:45:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:45:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:45:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:45:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:45:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:45:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:45:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124906m [env.py: 870] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:45:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46865397 -0.97667465 -0.12490593] yaw=-64.6deg [env.py: 1019] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29978702 -0.92009673 -0.12490593] yaw=-44.1deg [env.py: 1019] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:45:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=220.1ms, total=220.2ms [env.py: 1075] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.977, -0.125) [env.py: 1079] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/11 22:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:45:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:45:57 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/11 22:45:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:45:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:45:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:45:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:45:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.026s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:45:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.710[m] 97.850[deg] [grasp_sample.py: 539] +05/11 22:45:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:45:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:45:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:45:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:46:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.867s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:46:01 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.163[m] 10.918[deg] [grasp_sample.py: 539] +05/11 22:46:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:46:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:46:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:46:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.712s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:46:03 INFO: [Worker 0] Feasible grasp found 566 (originally 566): w/ 0.054[m] 0.316[deg] [grasp_sample.py: 539] +05/11 22:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:05 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:46:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:46:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:46:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:46:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:46:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104440m [env.py: 870] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:46:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44029821 -0.82310851 -0.10443982] yaw=-60.5deg [env.py: 1019] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1631878 -1.01955665 -0.10443982] yaw=-43.8deg [env.py: 1019] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:46:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=424.4ms, total=424.5ms [env.py: 1075] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.823, -0.104) [env.py: 1079] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.5 deg [env.py: 1082] +05/11 22:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/11 22:46:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:46:07 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/11 22:46:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 22:46:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:46:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:46:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:46:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:46:09 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:46:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:46:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:46:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:46:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:46:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120555m [env.py: 870] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:46:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=280.3ms, total=280.3ms [env.py: 1105] +05/11 22:46:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:46:10 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:46:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:46:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:46:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:46:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:46:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:46:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151383m [env.py: 870] +05/11 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:46:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=339.0ms, total=339.1ms [env.py: 1105] +05/11 22:46:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:46:12 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:46:12 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 22:46:13 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 22:46:13 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=False episode_total=4.65s: + episode_total: mean=10.93s, total=185.84s, count=17, min=197.1ms, max=116881.4ms + sensor_polling: mean=337.1ms, total=72.82s, count=216, min=296.9ms, max=482.1ms + task_specific_sample: mean=360.2ms, total=6.12s, count=17, min=191.1ms, max=684.0ms + physics_step: mean=21.6ms, total=4.66s, count=216, min=14.7ms, max=33.6ms + task_sampling: mean=465.3ms, total=4.65s, count=10, min=376.7ms, max=686.2ms + task_sampling_failed: mean=216.9ms, total=1.52s, count=7, min=197.1ms, max=262.9ms + scene_randomize: mean=1.2ms, total=19.6ms, count=17, min=0.9ms, max=2.3ms + mj_forward_sync: mean=411.3us, total=7.0ms, count=17, min=0.4ms, max=0.5ms + policy_setup: mean=15.5us, total=0.2ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:46:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:46:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:46:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:46:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:46:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:46:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179461m [env.py: 870] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:46:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29569555 -1.01058315 -0.1794612 ] yaw=-58.3deg [env.py: 1019] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=267.5ms, total=267.5ms [env.py: 1075] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.011, -0.179) [env.py: 1079] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/11 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:46:14 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/11 22:46:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:46:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:46:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:46:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:46:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:46:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:46:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:46:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:46:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:46:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124856m [env.py: 870] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:46:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3127594 -0.95150002 -0.12485636] yaw=-56.5deg [env.py: 1019] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27103968 -0.88341302 -0.12485636] yaw=-50.0deg [env.py: 1019] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:46:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.3ms, total=257.4ms [env.py: 1075] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.952, -0.125) [env.py: 1079] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/11 22:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:46:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:46:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:46:15 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/11 22:46:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 22:46:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:46:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:46:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:46:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.599s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:46:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.722[m] 91.998[deg] [grasp_sample.py: 539] +05/11 22:46:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:46:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:46:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:46:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:46:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:46:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.171s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:46:21 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.805[m] 79.784[deg] [grasp_sample.py: 539] +05/11 22:46:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:46:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:46:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:46:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:46:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:46:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:46:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:46:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:46:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.496s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:46:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.173[m] 18.809[deg] [grasp_sample.py: 539] +05/11 22:46:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:46:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:46:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:46:58 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:47:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:47:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:47:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:47:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:47:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.451s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:47:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.173[m] 18.806[deg] [grasp_sample.py: 539] +05/11 22:47:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:47:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:47:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:47:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:47:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:47:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:47:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.453s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:47:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.173[m] 18.806[deg] [grasp_sample.py: 539] +05/11 22:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:47:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:47:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:18 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:47:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:47:18 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/11 22:47:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:47:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:47:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 22:47:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:47:27 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 22:47:27 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.93s: + episode_total: mean=39.74s, total=198.69s, count=5, min=202.5ms, max=107524.2ms + sensor_polling: mean=354.3ms, total=113.38s, count=320, min=298.2ms, max=724.9ms + physics_step: mean=22.3ms, total=7.15s, count=320, min=13.1ms, max=88.7ms + task_specific_sample: mean=310.0ms, total=1.55s, count=5, min=198.8ms, max=480.8ms + task_sampling: mean=465.6ms, total=931.2ms, count=2, min=448.0ms, max=483.3ms + task_sampling_failed: mean=212.0ms, total=636.1ms, count=3, min=202.4ms, max=224.5ms + scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=1.0ms, max=2.4ms + mj_forward_sync: mean=453.8us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:47:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:47:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:47:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:47:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:47:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:47:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:47:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165015m [env.py: 870] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:47:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=309.8ms, total=309.9ms [env.py: 1105] +05/11 22:47:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:47:29 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:47:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:47:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:47:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:47:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:47:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:47:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:47:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192653m [env.py: 870] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:47:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25565137 -1.0886641 -0.19265336] yaw=-35.2deg [env.py: 1019] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:47:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.1ms [env.py: 1075] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.089, -0.193) [env.py: 1079] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg [env.py: 1082] +05/11 22:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:47:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:47:30 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/11 22:47:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:47:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:47:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.06s (batch: 3.18s, save: 8.88s) [pipeline.py: 300] +05/11 22:47:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:47:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:47:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:47:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:47:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:31 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.68s: + episode_total: mean=132.82s, total=132.82s, count=1, min=132817.7ms, max=132817.7ms + sensor_polling: mean=326.9ms, total=87.29s, count=267, min=296.2ms, max=594.0ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8881.6ms, max=8881.6ms + physics_step: mean=21.7ms, total=5.80s, count=267, min=14.7ms, max=70.2ms + save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3181.5ms, max=3181.5ms + task_sampling: mean=676.4ms, total=676.4ms, count=1, min=676.4ms, max=676.4ms + task_specific_sample: mean=672.2ms, total=672.2ms, count=1, min=672.2ms, max=672.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=613.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:47:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:47:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:47:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:47:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:47:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:47:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:47:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179959m [env.py: 870] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:47:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36732503 -1.17364371 -0.1799588 ] yaw=-47.7deg [env.py: 1019] +05/11 22:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:47:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms [env.py: 1075] +05/11 22:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -1.174, -0.180) [env.py: 1079] +05/11 22:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg [env.py: 1082] +05/11 22:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/11 22:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:47:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:47:33 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/11 22:47:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 22:47:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:47:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:47:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:47:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.712s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:47:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.628[m] 85.669[deg] [grasp_sample.py: 539] +05/11 22:47:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:47:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:47:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:47:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.443s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:47:36 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.741[m] 80.060[deg] [grasp_sample.py: 539] +05/11 22:47:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:47:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:47:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:47:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:48:11 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:48:18 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:48:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:48:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:48:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:48:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:48:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:48:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:48:35 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/11 22:48:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:48:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 22:48:36 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/11 22:48:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:48:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:48:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:48:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:48:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.40s (batch: 3.01s, save: 8.39s) [pipeline.py: 300] +05/11 22:48:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:48:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:48:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.16s (batch: 3.71s, save: 9.45s) [pipeline.py: 300] +05/11 22:48:48 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=7.89s: + episode_total: mean=21.87s, total=481.19s, count=22, min=202.1ms, max=154934.7ms + sensor_polling: mean=387.8ms, total=275.33s, count=710, min=314.0ms, max=677.9ms + physics_step: mean=23.3ms, total=16.57s, count=710, min=15.2ms, max=48.7ms + task_specific_sample: mean=437.0ms, total=9.61s, count=22, min=199.0ms, max=838.7ms + save_trajectories: mean=8.39s, total=8.39s, count=1, min=8389.6ms, max=8389.6ms + task_sampling: mean=526.2ms, total=7.89s, count=15, min=378.9ms, max=841.7ms + save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3007.2ms, max=3007.2ms + task_sampling_failed: mean=254.7ms, total=1.78s, count=7, min=202.0ms, max=347.3ms + scene_randomize: mean=1.2ms, total=25.9ms, count=22, min=0.9ms, max=2.0ms + mj_forward_sync: mean=422.5us, total=9.3ms, count=22, min=0.4ms, max=0.6ms + policy_setup: mean=13.9us, total=0.2ms, count=15, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=22, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:48:49 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.55s: + episode_total: mean=154.64s, total=154.64s, count=1, min=154641.0ms, max=154641.0ms + sensor_polling: mean=330.4ms, total=97.13s, count=294, min=301.5ms, max=582.8ms + save_trajectories: mean=9.45s, total=9.45s, count=1, min=9446.6ms, max=9446.6ms + physics_step: mean=21.2ms, total=6.24s, count=294, min=15.0ms, max=30.9ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3710.5ms, max=3710.5ms + task_sampling: mean=554.7ms, total=554.7ms, count=1, min=554.7ms, max=554.7ms + task_specific_sample: mean=552.4ms, total=552.4ms, count=1, min=552.4ms, max=552.4ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=409.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:48:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:48:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104640m [env.py: 870] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=228.4ms, total=228.4ms [env.py: 1105] +05/11 22:48:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:48:50 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:48:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:48:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:48:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:48:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:48:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:48:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169704m [env.py: 870] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:48:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61224112 -0.7881599 -0.16970395] yaw=-78.5deg [env.py: 1019] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59504584 -0.8451636 -0.16970395] yaw=-62.0deg [env.py: 1019] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.2ms, total=200.2ms [env.py: 1075] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.788, -0.170) [env.py: 1079] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.5 deg [env.py: 1082] +05/11 22:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:48:50 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/11 22:48:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 22:48:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:48:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:48:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:48:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:48:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:48:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:48:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:48:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:48:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130408m [env.py: 870] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:48:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.7ms, total=188.7ms [env.py: 1105] +05/11 22:48:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:48:51 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:48:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:48:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:48:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:48:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:48:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:48:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127508m [env.py: 870] +05/11 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:48:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.2ms, total=189.2ms [env.py: 1105] +05/11 22:48:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:48:53 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:48:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:48:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:48:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:48:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:48:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:48:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124964m [env.py: 870] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:48:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48875417 -0.81479097 -0.12496414] yaw=-53.1deg [env.py: 1019] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23270827 -1.15347843 -0.12496414] yaw=-43.1deg [env.py: 1019] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:48:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=194.3ms, total=194.4ms [env.py: 1075] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.815, -0.125) [env.py: 1079] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/11 22:48:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:48:54 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/11 22:48:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 22:48:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:48:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:48:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:48:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.013s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:48:56 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.808[m] 95.244[deg] [grasp_sample.py: 539] +05/11 22:48:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:48:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:48:56 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:48:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:48:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:48:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:48:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:48:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:48:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:48:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:48:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:48:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146895m [env.py: 870] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:48:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.7ms, total=207.7ms [env.py: 1105] +05/11 22:48:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:48:57 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:48:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:48:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:48:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:48:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:48:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:48:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172027m [env.py: 870] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:48:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28571352 -1.00728754 -0.17202669] yaw=-37.9deg [env.py: 1019] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28554614 -1.12025984 -0.17202669] yaw=-45.4deg [env.py: 1019] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:48:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=417.3ms, total=417.3ms [env.py: 1075] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.007, -0.172) [env.py: 1079] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/11 22:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:48:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:48:59 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/11 22:48:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:48:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:48:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:48:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:49:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.817s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:49:02 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.775[m] 91.227[deg] [grasp_sample.py: 539] +05/11 22:49:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:49:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:49:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:49:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:49:17 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:22 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:49:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:49:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:49:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:49:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:49:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:49:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.548s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:49:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.592[m] 64.064[deg] [grasp_sample.py: 539] +05/11 22:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:49:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:49:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:49:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:49:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173337m [env.py: 870] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51413936 -0.81887315 -0.17333744] yaw=-54.0deg [env.py: 1019] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:49:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.3ms [env.py: 1075] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.819, -0.173) [env.py: 1079] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/11 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m [env.py: 1086] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:49:35 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/11 22:49:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 22:49:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:49:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:49:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:49:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:49:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:49:36 INFO: [Worker 0] Preparing episode data: 261 timesteps [save_utils.py: 278] +05/11 22:49:40 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:49:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:49:40 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/11 22:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.012s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:49:40 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.796[m] 84.335[deg] [grasp_sample.py: 539] +05/11 22:49:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:49:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:49:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:49:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:49:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:49:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:49:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.99s (batch: 3.40s, save: 8.59s) [pipeline.py: 300] +05/11 22:49:48 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.43s: + episode_total: mean=135.97s, total=135.97s, count=1, min=135971.9ms, max=135971.9ms + sensor_polling: mean=359.7ms, total=93.53s, count=260, min=306.7ms, max=595.9ms + save_trajectories: mean=8.59s, total=8.59s, count=1, min=8594.5ms, max=8594.5ms + physics_step: mean=22.9ms, total=5.95s, count=260, min=14.9ms, max=32.4ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3400.1ms, max=3400.1ms + task_sampling: mean=430.9ms, total=430.9ms, count=1, min=430.9ms, max=430.9ms + task_specific_sample: mean=427.5ms, total=427.5ms, count=1, min=427.5ms, max=427.5ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=403.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:49:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:49:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:49:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:49:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:49:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:49:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181632m [env.py: 870] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:49:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16148525 -0.96963393 -0.18163206] yaw=-37.9deg [env.py: 1019] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54633523 -0.88823711 -0.18163206] yaw=-66.3deg [env.py: 1019] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39186033 -0.78756182 -0.18163206] yaw=-54.8deg [env.py: 1019] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:49:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.5ms, total=224.6ms [env.py: 1075] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.161, -0.970, -0.182) [env.py: 1079] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/11 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:49:50 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/11 22:49:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 22:49:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:49:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:49:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:49:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:49:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:49:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.83s (batch: 2.97s, save: 8.87s) [pipeline.py: 300] +05/11 22:49:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.678s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:49:52 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:49:52 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.44s: + episode_total: mean=71.42s, total=142.83s, count=2, min=319.3ms, max=142515.4ms + sensor_polling: mean=346.3ms, total=97.65s, count=282, min=299.7ms, max=587.6ms + save_trajectories: mean=8.87s, total=8.87s, count=1, min=8866.1ms, max=8866.1ms + physics_step: mean=21.9ms, total=6.19s, count=282, min=15.0ms, max=34.4ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2967.6ms, max=2967.6ms + task_specific_sample: mean=375.9ms, total=751.8ms, count=2, min=314.9ms, max=437.0ms + task_sampling: mean=440.0ms, total=440.0ms, count=1, min=440.0ms, max=440.0ms + task_sampling_failed: mean=319.3ms, total=319.3ms, count=1, min=319.3ms, max=319.3ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.2ms + mj_forward_sync: mean=408.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:49:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:49:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110787m [env.py: 870] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47956595 -0.75631813 -0.11078689] yaw=-55.7deg [env.py: 1019] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.2ms [env.py: 1075] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.756, -0.111) [env.py: 1079] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/11 22:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:49:54 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/11 22:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:49:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:49:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:49:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:49:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:49:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:49:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:49:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144773m [env.py: 870] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:49:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:49:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48195657 -0.92392924 -0.144773 ] yaw=-62.4deg [env.py: 1019] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:49:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=265.9ms, total=266.0ms [env.py: 1075] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.924, -0.145) [env.py: 1079] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/11 22:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:49:54 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/11 22:49:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 22:49:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:49:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:49:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:49:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:49:55 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:49:55 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/11 22:49:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.411s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:49:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.725[m] 84.882[deg] [grasp_sample.py: 539] +05/11 22:49:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:49:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:49:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:49:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:49:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:49:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176579m [env.py: 870] +05/11 22:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:49:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26921076 -0.87857115 -0.17657898] yaw=-44.4deg [env.py: 1019] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32491399 -0.95575306 -0.17657898] yaw=-51.8deg [env.py: 1019] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53763522 -0.88174548 -0.17657898] yaw=-72.7deg [env.py: 1019] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:49:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=802.7ms, total=802.8ms [env.py: 1075] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -0.879, -0.177) [env.py: 1079] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/11 22:49:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/11 22:49:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:57 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:49:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:49:57 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/11 22:49:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 22:49:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:49:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:49:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:49:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:49:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:49:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:49:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:49:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:49:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108212m [env.py: 870] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:49:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50143167 -1.01365121 -0.10821245] yaw=-53.3deg [env.py: 1019] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55634554 -0.99868051 -0.10821245] yaw=-73.0deg [env.py: 1019] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:49:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=180.5ms, total=180.5ms [env.py: 1075] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -1.014, -0.108) [env.py: 1079] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg [env.py: 1082] +05/11 22:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:49:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:49:59 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/11 22:49:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 22:49:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:49:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:49:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.578s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:49:59 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:49:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:50:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:50:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:50:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:50:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:50:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:50:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:50:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:50:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:50:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108315m [env.py: 870] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:50:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=201.3ms, total=201.4ms [env.py: 1105] +05/11 22:50:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:50:01 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:50:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.876s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:50:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.705[m] 86.861[deg] [grasp_sample.py: 539] +05/11 22:50:02 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:50:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:50:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:50:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:50:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:50:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:50:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:50:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167061m [env.py: 870] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:50:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29490496 -1.12590293 -0.16706145] yaw=-52.6deg [env.py: 1019] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60255416 -0.80012581 -0.16706145] yaw=-75.0deg [env.py: 1019] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:50:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.9ms [env.py: 1075] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.126, -0.167) [env.py: 1079] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/11 22:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:50:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:50:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:50:02 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/11 22:50:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 22:50:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:50:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:50:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:50:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:50:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:50:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:50:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:50:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:50:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:50:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132928m [env.py: 870] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:50:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=400.9ms, total=400.9ms [env.py: 1105] +05/11 22:50:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:50:04 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:50:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.688s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:50:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.684[m] 86.243[deg] [grasp_sample.py: 539] +05/11 22:50:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:50:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:50:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:50:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:50:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:50:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:50:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:50:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:50:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:50:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127857m [env.py: 870] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:50:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49269275 -0.94220786 -0.12785731] yaw=-50.2deg [env.py: 1019] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:50:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1075] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.942, -0.128) [env.py: 1079] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/11 22:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:50:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:50:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:50:06 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 22:50:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:50:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:50:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:50:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:50:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:50:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.718[m] 85.060[deg] [grasp_sample.py: 539] +05/11 22:50:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:50:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:50:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:50:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:50:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:50:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:50:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:50:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 326 non-colliding grasps [grasp_sample.py: 465] +05/11 22:50:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.397s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:50:29 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.049[m] 0.821[deg] [grasp_sample.py: 539] +05/11 22:50:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:50:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:50:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:51:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:51:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:51:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:51:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 363 non-colliding grasps [grasp_sample.py: 465] +05/11 22:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:51:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:51:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:51:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:51:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:51:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.464s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:51:11 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.086[m] 34.911[deg] [grasp_sample.py: 539] +05/11 22:51:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:51:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:51:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:15 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:51:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:51:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:51:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.492s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:51:18 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.121[m] 18.659[deg] [grasp_sample.py: 539] +05/11 22:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:51:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:51:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:51:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:51:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 22:51:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:51:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:51:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:51:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:51:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.62s (batch: 3.45s, save: 9.17s) [pipeline.py: 300] +05/11 22:51:48 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=1.08s: + episode_total: mean=28.72s, total=172.29s, count=6, min=197.2ms, max=169496.3ms + sensor_polling: mean=373.7ms, total=112.11s, count=300, min=317.1ms, max=599.3ms + save_trajectories: mean=9.17s, total=9.17s, count=1, min=9169.3ms, max=9169.3ms + physics_step: mean=22.3ms, total=6.69s, count=300, min=14.8ms, max=34.9ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3448.7ms, max=3448.7ms + task_specific_sample: mean=318.2ms, total=1.91s, count=6, min=193.5ms, max=638.4ms + task_sampling: mean=538.9ms, total=1.08s, count=2, min=437.1ms, max=640.6ms + task_sampling_failed: mean=214.4ms, total=857.7ms, count=4, min=197.2ms, max=242.4ms + scene_randomize: mean=2.1ms, total=12.7ms, count=6, min=1.0ms, max=6.2ms + mj_forward_sync: mean=416.9us, total=2.5ms, count=6, min=0.4ms, max=0.5ms + policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:51:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:51:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:51:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:51:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:51:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:51:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:51:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:51:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:51:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145542m [env.py: 870] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:51:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.7ms, total=206.8ms [env.py: 1105] +05/11 22:51:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:51:49 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:51:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:51:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:51:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:51:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:51:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:51:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:51:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191379m [env.py: 870] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:51:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50226671 -0.82181316 -0.19137932] yaw=-70.9deg [env.py: 1019] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2001024 -1.16224709 -0.19137932] yaw=-29.4deg [env.py: 1019] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:51:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.0ms [env.py: 1075] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -0.822, -0.191) [env.py: 1079] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg [env.py: 1082] +05/11 22:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:51:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:51:51 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/11 22:51:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 22:51:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:51:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:51:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:51:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.804s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:51:57 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.762[m] 85.752[deg] [grasp_sample.py: 539] +05/11 22:51:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:51:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 57.044s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:51:58 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 22:51:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:51:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:51:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:51:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:51:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:51:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:51:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:51:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:51:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117830m [env.py: 870] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:51:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63427332 -0.92346417 -0.11782952] yaw=-59.3deg [env.py: 1019] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27564229 -1.07389524 -0.11782952] yaw=-35.5deg [env.py: 1019] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:51:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.8ms [env.py: 1075] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.923, -0.118) [env.py: 1079] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/11 22:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:51:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:51:59 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:01 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:52:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.737s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:52:01 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.691[m] 81.595[deg] [grasp_sample.py: 539] +05/11 22:52:03 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:52:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135657m [env.py: 870] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.1ms, total=204.2ms [env.py: 1105] +05/11 22:52:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:04 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:52:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149335m [env.py: 870] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.8ms, total=201.9ms [env.py: 1105] +05/11 22:52:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:06 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:52:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131203m [env.py: 870] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50261229 -0.8026747 -0.13120271] yaw=-53.1deg [env.py: 1019] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35757487 -0.96356646 -0.13120271] yaw=-40.9deg [env.py: 1019] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.6ms [env.py: 1075] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.803, -0.131) [env.py: 1079] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/11 22:52:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:07 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.605s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:52:09 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:52:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118164m [env.py: 870] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44341505 -1.07818447 -0.11816367] yaw=-53.5deg [env.py: 1019] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.4ms, total=198.4ms [env.py: 1075] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -1.078, -0.118) [env.py: 1079] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/11 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:11 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.638s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:52:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.696[m] 91.225[deg] [grasp_sample.py: 539] +05/11 22:52:15 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:52:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100498m [env.py: 870] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=433.4ms, total=433.4ms [env.py: 1105] +05/11 22:52:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:16 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:52:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109868m [env.py: 870] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=240.3ms, total=240.3ms [env.py: 1105] +05/11 22:52:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:18 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181330m [env.py: 870] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47121388 -0.76647353 -0.18133011] yaw=-59.9deg [env.py: 1019] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.64639746 -0.87961123 -0.18133011] yaw=-71.0deg [env.py: 1019] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=213.0ms [env.py: 1075] +05/11 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.766, -0.181) [env.py: 1079] +05/11 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg [env.py: 1082] +05/11 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/11 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:20 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:52:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:52:21 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/11 22:52:21 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:52:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.406s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:52:21 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:52:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112002m [env.py: 870] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51247517 -1.05304801 -0.11200249] yaw=-48.7deg [env.py: 1019] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2612687 -0.95525097 -0.11200249] yaw=-38.3deg [env.py: 1019] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.9ms, total=243.0ms [env.py: 1075] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -1.053, -0.112) [env.py: 1079] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg [env.py: 1082] +05/11 22:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:23 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.868s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:52:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 87.677[deg] [grasp_sample.py: 539] +05/11 22:52:26 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134253m [env.py: 870] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30491381 -0.98112857 -0.1342534 ] yaw=-55.6deg [env.py: 1019] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=375.9ms, total=375.9ms [env.py: 1075] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -0.981, -0.134) [env.py: 1079] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/11 22:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/11 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:28 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.296s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:52:34 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.754[m] 82.609[deg] [grasp_sample.py: 539] +05/11 22:52:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:52:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:52:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.73s (batch: 3.72s, save: 9.01s) [pipeline.py: 300] +05/11 22:52:34 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=2.31s: + episode_total: mean=31.86s, total=159.32s, count=5, min=212.6ms, max=152071.6ms + sensor_polling: mean=396.5ms, total=107.05s, count=270, min=300.2ms, max=581.1ms + save_trajectories: mean=9.01s, total=9.01s, count=1, min=9008.6ms, max=9008.6ms + physics_step: mean=24.9ms, total=6.73s, count=270, min=14.5ms, max=32.1ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3724.3ms, max=3724.3ms + task_specific_sample: mean=501.2ms, total=2.51s, count=5, min=208.2ms, max=1008.6ms + task_sampling: mean=577.2ms, total=2.31s, count=4, min=407.9ms, max=1011.2ms + task_sampling_failed: mean=212.6ms, total=212.6ms, count=1, min=212.6ms, max=212.6ms + scene_randomize: mean=1.4ms, total=6.9ms, count=5, min=1.0ms, max=2.0ms + mj_forward_sync: mean=477.2us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=15.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:52:35 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:52:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194805m [env.py: 870] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18206706 -0.97417664 -0.19480516] yaw=-34.7deg [env.py: 1019] +05/11 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=197.5ms, total=197.6ms [env.py: 1075] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -0.974, -0.195) [env.py: 1079] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg [env.py: 1082] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:36 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135593m [env.py: 870] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47160515 -0.9839671 -0.13559278] yaw=-60.4deg [env.py: 1019] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4431498 -0.94842453 -0.13559278] yaw=-47.1deg [env.py: 1019] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1075] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.472, -0.984, -0.136) [env.py: 1079] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/11 22:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:36 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.790s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:52:38 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189280m [env.py: 870] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50274446 -1.03447062 -0.18928022] yaw=-50.4deg [env.py: 1019] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3541054 -1.02529197 -0.18928022] yaw=-55.3deg [env.py: 1019] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.0ms, total=223.1ms [env.py: 1075] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -1.034, -0.189) [env.py: 1079] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/11 22:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:40 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.950s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:52:40 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.690[m] 80.047[deg] [grasp_sample.py: 539] +05/11 22:52:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.754s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:52:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.623[m] 94.712[deg] [grasp_sample.py: 539] +05/11 22:52:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:52:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:52:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:52:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:52:41 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:52:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:52:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:52:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:52:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118590m [env.py: 870] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.6ms, total=199.7ms [env.py: 1105] +05/11 22:52:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:42 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:52:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199771m [env.py: 870] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=194.3ms, total=194.3ms [env.py: 1105] +05/11 22:52:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:44 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:52:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151281m [env.py: 870] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14302994 -1.0564292 -0.15128055] yaw=-36.1deg [env.py: 1019] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32278648 -0.95585364 -0.15128055] yaw=-48.7deg [env.py: 1019] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.056, -0.151) [env.py: 1079] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg [env.py: 1082] +05/11 22:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:45 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.298s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:52:47 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:52:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161614m [env.py: 870] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21801874 -1.08791608 -0.16161432] yaw=-41.1deg [env.py: 1019] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:52:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.2ms, total=217.2ms [env.py: 1075] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.088, -0.162) [env.py: 1079] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/11 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:52:49 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/11 22:52:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 22:52:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:52:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:52:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:52:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:52:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.748[m] 85.046[deg] [grasp_sample.py: 539] +05/11 22:52:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:52:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:52:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:52:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:52:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:52:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:52:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.60s (batch: 3.73s, save: 9.86s) [pipeline.py: 300] +05/11 22:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:52:55 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=1.34s: + episode_total: mean=44.34s, total=177.36s, count=4, min=409.3ms, max=169938.3ms + sensor_polling: mean=351.0ms, total=105.30s, count=300, min=300.3ms, max=639.7ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9861.8ms, max=9861.8ms + physics_step: mean=22.7ms, total=6.82s, count=300, min=17.7ms, max=39.9ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3733.6ms, max=3733.6ms + task_specific_sample: mean=433.8ms, total=1.74s, count=4, min=389.1ms, max=535.8ms + task_sampling: mean=446.1ms, total=1.34s, count=3, min=391.9ms, max=540.2ms + task_sampling_failed: mean=409.2ms, total=409.2ms, count=1, min=409.2ms, max=409.2ms + scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.0ms, max=2.9ms + mj_forward_sync: mean=458.9us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=12.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:52:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141524m [env.py: 870] +05/11 22:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.0ms, total=201.0ms [env.py: 1105] +05/11 22:52:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:57 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:52:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:52:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:52:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:52:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:52:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146909m [env.py: 870] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1105] +05/11 22:52:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:52:58 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:53:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:53:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:53:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:53:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:53:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162429m [env.py: 870] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28544094 -1.02407898 -0.16242912] yaw=-38.6deg [env.py: 1019] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:53:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64367322 -0.97098903 -0.16242912] yaw=-58.5deg [env.py: 1019] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=447.4ms, total=447.4ms [env.py: 1075] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -1.024, -0.162) [env.py: 1079] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.6 deg [env.py: 1082] +05/11 22:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:53:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:53:00 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/11 22:53:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/11 22:53:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:53:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:53:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:53:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.859s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:53:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.751[m] 83.341[deg] [grasp_sample.py: 539] +05/11 22:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:53:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:53:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:53:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:53:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 483 non-colliding grasps [grasp_sample.py: 465] +05/11 22:53:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:53:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:53:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.728s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:53:12 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.067[m] 30.460[deg] [grasp_sample.py: 539] +05/11 22:53:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:53:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:53:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:53:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:53:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:53:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:53:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:53:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:53:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:53:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:53:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 343 non-colliding grasps [grasp_sample.py: 465] +05/11 22:53:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:53:58 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.037[m] 2.512[deg] [grasp_sample.py: 539] +05/11 22:53:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:53:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:53:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:54:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:54:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:54:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:54:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:54:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 344 non-colliding grasps [grasp_sample.py: 465] +05/11 22:54:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.465s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:54:07 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.054[m] 8.187[deg] [grasp_sample.py: 539] +05/11 22:54:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:54:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:54:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:54:13 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:54:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:54:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 22:54:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:54:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:54:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:54:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 400 non-colliding grasps [grasp_sample.py: 465] +05/11 22:54:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:54:21 INFO: [Worker 0] Feasible grasp found 280 (originally 280): w/ 0.038[m] 20.623[deg] [grasp_sample.py: 539] +05/11 22:54:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:54:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:54:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:54:33 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:54:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 22:54:33 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/11 22:54:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:54:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:54:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:54:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.55s (batch: 3.53s, save: 9.02s) [pipeline.py: 300] +05/11 22:54:46 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:54:46 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.44s: + episode_total: mean=87.83s, total=175.67s, count=2, min=218.9ms, max=175449.6ms + sensor_polling: mean=379.0ms, total=110.30s, count=291, min=319.9ms, max=659.7ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9019.1ms, max=9019.1ms + physics_step: mean=22.5ms, total=6.54s, count=291, min=17.8ms, max=32.3ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3526.7ms, max=3526.7ms + task_specific_sample: mean=324.7ms, total=649.5ms, count=2, min=212.6ms, max=436.9ms + task_sampling: mean=439.3ms, total=439.3ms, count=1, min=439.3ms, max=439.3ms + task_sampling_failed: mean=218.9ms, total=218.9ms, count=1, min=218.9ms, max=218.9ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=0.9ms, max=2.6ms + mj_forward_sync: mean=390.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:54:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:54:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:54:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195263m [env.py: 870] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=222.8ms, total=222.9ms [env.py: 1105] +05/11 22:54:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:54:48 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:54:49 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:54:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:54:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:54:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:54:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:54:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:54:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:54:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123355m [env.py: 870] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:54:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=255.1ms, total=255.1ms [env.py: 1105] +05/11 22:54:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:54:49 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:54:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:54:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:54:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:54:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:54:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:54:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:54:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151300m [env.py: 870] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:54:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60057846 -0.85350611 -0.15129967] yaw=-63.3deg [env.py: 1019] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47791852 -0.98012486 -0.15129967] yaw=-49.0deg [env.py: 1019] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:54:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.5ms, total=228.6ms [env.py: 1075] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.854, -0.151) [env.py: 1079] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg [env.py: 1082] +05/11 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:54:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:54:51 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/11 22:54:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/11 22:54:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:54:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:54:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:54:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.112s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:54:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.706[m] 91.489[deg] [grasp_sample.py: 539] +05/11 22:54:54 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:54:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:54:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:54:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:54:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:54:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:54:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:54:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:54:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:54:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197030m [env.py: 870] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:54:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=365.9ms, total=366.0ms [env.py: 1105] +05/11 22:54:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:54:55 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:54:56 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:54:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:54:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:54:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:54:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:54:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:54:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:54:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129075m [env.py: 870] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:54:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52006976 -0.96771119 -0.12907461] yaw=-49.3deg [env.py: 1019] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:54:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.968, -0.129) [env.py: 1079] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/11 22:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:54:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:54:57 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/11 22:54:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 22:54:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:54:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:54:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:55:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.959s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:55:01 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.682[m] 87.529[deg] [grasp_sample.py: 539] +05/11 22:55:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:55:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:55:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:55:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:55:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:55:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:55:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:55:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:55:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:55:08 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/11 22:55:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:55:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:55:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 22:55:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:55:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:55:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.01s (batch: 3.35s, save: 8.66s) [pipeline.py: 300] +05/11 22:55:21 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.71s: + episode_total: mean=47.24s, total=141.72s, count=3, min=212.6ms, max=141295.7ms + sensor_polling: mean=338.8ms, total=97.24s, count=287, min=310.1ms, max=581.6ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8657.7ms, max=8657.7ms + physics_step: mean=21.5ms, total=6.18s, count=287, min=16.7ms, max=32.9ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3351.7ms, max=3351.7ms + task_specific_sample: mean=373.7ms, total=1.12s, count=3, min=207.9ms, max=704.3ms + task_sampling: mean=706.8ms, total=706.8ms, count=1, min=706.8ms, max=706.8ms + task_sampling_failed: mean=213.0ms, total=426.0ms, count=2, min=212.6ms, max=213.4ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.2ms, max=2.4ms + mj_forward_sync: mean=552.7us, total=1.7ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:55:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:55:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:55:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.30s (batch: 3.60s, save: 9.70s) [pipeline.py: 300] +05/11 22:55:22 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=4.95s: + episode_total: mean=21.86s, total=371.60s, count=17, min=202.4ms, max=153943.6ms + sensor_polling: mean=347.4ms, total=184.10s, count=530, min=301.2ms, max=621.4ms + physics_step: mean=22.3ms, total=11.82s, count=530, min=14.9ms, max=33.1ms + save_trajectories: mean=9.70s, total=9.70s, count=1, min=9699.3ms, max=9699.3ms + task_specific_sample: mean=378.2ms, total=6.43s, count=17, min=199.4ms, max=600.6ms + task_sampling: mean=450.2ms, total=4.95s, count=11, min=399.5ms, max=603.2ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3596.3ms, max=3596.3ms + task_sampling_failed: mean=254.3ms, total=1.53s, count=6, min=202.3ms, max=441.1ms + scene_randomize: mean=1.2ms, total=20.3ms, count=17, min=0.9ms, max=2.5ms + mj_forward_sync: mean=405.3us, total=6.9ms, count=17, min=0.4ms, max=0.5ms + policy_setup: mean=13.8us, total=0.2ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:55:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:55:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:55:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:55:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:55:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:55:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131386m [env.py: 870] +05/11 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:55:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30850748 -0.87475572 -0.13138601] yaw=-58.7deg [env.py: 1019] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:55:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=353.6ms, total=353.7ms [env.py: 1075] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -0.875, -0.131) [env.py: 1079] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/11 22:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/11 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:55:23 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/11 22:55:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 22:55:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:55:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:55:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:55:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:55:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:55:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:55:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:55:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:55:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124871m [env.py: 870] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:55:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36630019 -0.98540992 -0.12487109] yaw=-52.9deg [env.py: 1019] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:55:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.7ms [env.py: 1075] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.985, -0.125) [env.py: 1079] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/11 22:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:55:24 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/11 22:55:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 22:55:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:55:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:55:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:55:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.553s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:55:25 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:55:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:55:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:55:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111001m [env.py: 870] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47442779 -0.92197978 -0.11100102] yaw=-50.7deg [env.py: 1019] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:55:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=410.8ms, total=410.9ms [env.py: 1075] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.922, -0.111) [env.py: 1079] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/11 22:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:55:26 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/11 22:55:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 22:55:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:55:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:55:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:55:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.513s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:55:29 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.775[m] 85.768[deg] [grasp_sample.py: 539] +05/11 22:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:55:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:55:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:55:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:55:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:55:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:55:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.71s (batch: 3.37s, save: 10.34s) [pipeline.py: 300] +05/11 22:55:31 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.88s: + episode_total: mean=87.11s, total=174.22s, count=2, min=2427.2ms, max=171794.0ms + sensor_polling: mean=398.3ms, total=119.50s, count=300, min=301.2ms, max=590.8ms + save_trajectories: mean=10.34s, total=10.34s, count=1, min=10335.3ms, max=10335.3ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=14.8ms, max=69.7ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3370.4ms, max=3370.4ms + task_sampling: mean=440.7ms, total=881.4ms, count=2, min=437.7ms, max=443.6ms + task_specific_sample: mean=437.4ms, total=874.9ms, count=2, min=434.5ms, max=440.3ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.6ms, max=2.0ms + mj_forward_sync: mean=420.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:55:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:55:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:55:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:55:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:55:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:55:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:55:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172228m [env.py: 870] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:55:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56312385 -0.83409195 -0.17222754] yaw=-62.7deg [env.py: 1019] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:55:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=366.1ms, total=366.2ms [env.py: 1075] +05/11 22:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.834, -0.172) [env.py: 1079] +05/11 22:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/11 22:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/11 22:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:55:33 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/11 22:55:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 22:55:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:55:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:55:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:55:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.639s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:55:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.745[m] 88.545[deg] [grasp_sample.py: 539] +05/11 22:55:36 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:55:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:55:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:55:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:55:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:55:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:55:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:55:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134300m [env.py: 870] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:55:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.2ms, total=158.3ms [env.py: 1105] +05/11 22:55:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:55:37 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:55:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.926s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:55:37 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.716[m] 88.630[deg] [grasp_sample.py: 539] +05/11 22:55:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:55:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:55:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:55:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:55:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:55:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:55:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:55:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:55:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:55:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158944m [env.py: 870] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:55:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39527982 -0.95006333 -0.15894383] yaw=-54.8deg [env.py: 1019] +05/11 22:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:55:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=216.2ms, total=216.3ms [env.py: 1075] +05/11 22:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -0.950, -0.159) [env.py: 1079] +05/11 22:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/11 22:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/11 22:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:55:39 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/11 22:55:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 22:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:55:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:55:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:55:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:55:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.739[m] 98.750[deg] [grasp_sample.py: 539] +05/11 22:55:41 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:55:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:55:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:55:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:55:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:55:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:55:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131810m [env.py: 870] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:55:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3055131 -1.2280239 -0.1318098] yaw=-29.0deg [env.py: 1019] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55785135 -0.93269964 -0.1318098 ] yaw=-56.0deg [env.py: 1019] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:55:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.9ms, total=233.9ms [env.py: 1075] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -1.228, -0.132) [env.py: 1079] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.0 deg [env.py: 1082] +05/11 22:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:55:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:55:43 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/11 22:55:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 22:55:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:55:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:55:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:55:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.436s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:55:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 85.288[deg] [grasp_sample.py: 539] +05/11 22:55:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:55:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:55:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:55:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:55:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:56:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:56:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:56:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:56:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:56:58 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:57:15 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:57:15 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:57:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 22:57:15 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/11 22:57:17 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:57:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:57:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:57:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.62s (batch: 3.24s, save: 9.38s) [pipeline.py: 300] +05/11 22:57:28 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.91s: + episode_total: mean=31.07s, total=155.35s, count=5, min=240.1ms, max=151572.6ms + sensor_polling: mean=391.7ms, total=107.33s, count=274, min=319.8ms, max=774.5ms + save_trajectories: mean=9.38s, total=9.38s, count=1, min=9379.5ms, max=9379.5ms + physics_step: mean=23.2ms, total=6.35s, count=274, min=14.1ms, max=63.8ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3236.7ms, max=3236.7ms + task_specific_sample: mean=354.0ms, total=1.77s, count=5, min=232.2ms, max=465.6ms + task_sampling: mean=455.8ms, total=911.7ms, count=2, min=443.9ms, max=467.8ms + task_sampling_failed: mean=292.2ms, total=876.7ms, count=3, min=240.1ms, max=373.9ms + scene_randomize: mean=1.6ms, total=7.8ms, count=5, min=1.0ms, max=3.6ms + mj_forward_sync: mean=460.1us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:57:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140296m [env.py: 870] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=863.4ms, total=863.5ms [env.py: 1105] +05/11 22:57:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:57:31 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:57:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152366m [env.py: 870] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=246.1ms, total=246.1ms [env.py: 1105] +05/11 22:57:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:57:32 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:57:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106350m [env.py: 870] +05/11 22:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43037264 -1.02081464 -0.10635015] yaw=-45.3deg [env.py: 1019] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:57:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=211.0ms, total=211.1ms [env.py: 1075] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -1.021, -0.106) [env.py: 1079] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/11 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/11 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:57:34 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/11 22:57:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 22:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:57:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:57:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:57:34 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:57:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 22:57:34 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/11 22:57:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.427s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:57:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.727[m] 82.479[deg] [grasp_sample.py: 539] +05/11 22:57:37 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:57:37 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:57:38 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:57:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:57:38 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/11 22:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182506m [env.py: 870] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.8ms, total=197.8ms [env.py: 1105] +05/11 22:57:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:57:38 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:57:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133660m [env.py: 870] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27770235 -1.07483467 -0.13366036] yaw=-55.5deg [env.py: 1019] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:57:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.4ms [env.py: 1075] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.075, -0.134) [env.py: 1079] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/11 22:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:57:40 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/11 22:57:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:57:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:57:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:57:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:57:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.966s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:57:42 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.730[m] 90.607[deg] [grasp_sample.py: 539] +05/11 22:57:43 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:57:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102556m [env.py: 870] +05/11 22:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61627829 -0.91462549 -0.10255575] yaw=-71.4deg [env.py: 1019] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29140886 -0.99523312 -0.10255575] yaw=-56.8deg [env.py: 1019] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:57:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.4ms, total=213.5ms [env.py: 1075] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.915, -0.103) [env.py: 1079] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg [env.py: 1082] +05/11 22:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/11 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:57:45 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/11 22:57:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 22:57:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:57:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:57:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:57:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.762s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:57:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.728[m] 73.946[deg] [grasp_sample.py: 539] +05/11 22:57:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:57:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:57:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:57:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:57:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:57:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:57:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.39s (batch: 3.64s, save: 9.75s) [pipeline.py: 300] +05/11 22:57:48 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=1.21s: + episode_total: mean=72.37s, total=144.74s, count=2, min=2338.5ms, max=142403.5ms + sensor_polling: mean=333.6ms, total=97.06s, count=291, min=301.3ms, max=634.3ms + save_trajectories: mean=9.75s, total=9.75s, count=1, min=9747.9ms, max=9747.9ms + physics_step: mean=21.4ms, total=6.23s, count=291, min=14.5ms, max=35.4ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3640.0ms, max=3640.0ms + task_sampling: mean=607.0ms, total=1.21s, count=2, min=594.2ms, max=619.8ms + task_specific_sample: mean=603.8ms, total=1.21s, count=2, min=590.3ms, max=617.2ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=430.3us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:57:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184854m [env.py: 870] +05/11 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.8ms, total=232.9ms [env.py: 1105] +05/11 22:57:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:57:50 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:57:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:57:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:57:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.53s (batch: 3.58s, save: 8.96s) [pipeline.py: 300] +05/11 22:57:51 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.52s: + episode_total: mean=147.23s, total=147.23s, count=1, min=147231.9ms, max=147231.9ms + sensor_polling: mean=329.3ms, total=91.54s, count=278, min=299.8ms, max=689.6ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8956.6ms, max=8956.6ms + physics_step: mean=21.3ms, total=5.92s, count=278, min=14.7ms, max=32.0ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3577.6ms, max=3577.6ms + task_sampling: mean=520.2ms, total=520.2ms, count=1, min=520.2ms, max=520.2ms + task_specific_sample: mean=516.1ms, total=516.1ms, count=1, min=516.1ms, max=516.1ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:57:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142044m [env.py: 870] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.276158 -1.09635239 -0.1420439 ] yaw=-48.4deg [env.py: 1019] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36678354 -1.1312233 -0.1420439 ] yaw=-44.0deg [env.py: 1019] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:57:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.7ms, total=201.8ms [env.py: 1075] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -1.096, -0.142) [env.py: 1079] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/11 22:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:57:51 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/11 22:57:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 22:57:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:57:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:57:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:57:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:57:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:57:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:57:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181569m [env.py: 870] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26167255 -1.13940378 -0.18156868] yaw=-31.8deg [env.py: 1019] +05/11 22:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:57:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=309.3ms, total=309.3ms [env.py: 1075] +05/11 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.139, -0.182) [env.py: 1079] +05/11 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg [env.py: 1082] +05/11 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/11 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:57:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:57:53 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/11 22:57:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 22:57:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:57:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:57:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:57:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.405s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:57:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.695[m] 74.622[deg] [grasp_sample.py: 539] +05/11 22:57:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:57:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:57:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:57:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:57:56 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:57:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 22:57:56 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/11 22:58:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.317s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:58:00 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.737[m] 89.154[deg] [grasp_sample.py: 539] +05/11 22:58:01 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:58:01 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/11 22:58:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168461m [env.py: 870] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31460388 -1.20167411 -0.16846081] yaw=-30.5deg [env.py: 1019] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37237428 -0.96098013 -0.16846081] yaw=-41.9deg [env.py: 1019] +05/11 22:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:58:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.7ms, total=181.8ms [env.py: 1075] +05/11 22:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.202, -0.168) [env.py: 1079] +05/11 22:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.5 deg [env.py: 1082] +05/11 22:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/11 22:58:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:58:03 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/11 22:58:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 22:58:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.433s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:58:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.633[m] 86.871[deg] [grasp_sample.py: 539] +05/11 22:58:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:58:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:58:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 22:58:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 22:58:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.93s (batch: 3.24s, save: 8.68s) [pipeline.py: 300] +05/11 22:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:08 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=1.54s: + episode_total: mean=38.08s, total=152.31s, count=4, min=166.0ms, max=145561.5ms + sensor_polling: mean=379.1ms, total=102.35s, count=270, min=298.3ms, max=614.8ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8682.3ms, max=8682.3ms + physics_step: mean=23.8ms, total=6.42s, count=270, min=15.2ms, max=33.1ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3244.6ms, max=3244.6ms + task_specific_sample: mean=423.7ms, total=1.69s, count=4, min=162.9ms, max=608.8ms + task_sampling: mean=513.4ms, total=1.54s, count=3, min=447.7ms, max=612.6ms + task_sampling_failed: mean=166.0ms, total=166.0ms, count=1, min=166.0ms, max=166.0ms + scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=1.0ms, max=2.7ms + mj_forward_sync: mean=402.7us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 22:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165698m [env.py: 870] +05/11 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35431545 -0.8629658 -0.16569789] yaw=-52.9deg [env.py: 1019] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28641844 -1.05115912 -0.16569789] yaw=-42.0deg [env.py: 1019] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41484058 -0.80807922 -0.16569789] yaw=-52.4deg [env.py: 1019] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:58:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=143.3ms, total=143.3ms [env.py: 1075] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -0.863, -0.166) [env.py: 1079] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/11 22:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/11 22:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:58:10 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/11 22:58:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 22:58:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.514s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:58:12 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179911m [env.py: 870] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50826092 -0.75316318 -0.17991081] yaw=-72.1deg [env.py: 1019] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:58:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.1ms, total=235.2ms [env.py: 1075] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.753, -0.180) [env.py: 1079] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.1 deg [env.py: 1082] +05/11 22:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:58:13 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/11 22:58:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.179s [base_object_manipulation_planner_policy.py: 377] +05/11 22:58:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: False [grasp_sample.py: 500] +05/11 22:58:15 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 22:58:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 22:58:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 22:58:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:58:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188249m [env.py: 870] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.241s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26154685 -1.1023721 -0.1882488 ] yaw=-34.7deg [env.py: 1019] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:58:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.1ms, total=217.2ms [env.py: 1075] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.102, -0.188) [env.py: 1079] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg [env.py: 1082] +05/11 22:58:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:58:17 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/11 22:58:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 22:58:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.724s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:58:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.548[m] 52.970[deg] [grasp_sample.py: 539] +05/11 22:58:19 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:58:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128087m [env.py: 870] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1105] +05/11 22:58:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 22:58:21 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 22:58:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168868m [env.py: 870] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56236559 -0.91353178 -0.16886762] yaw=-73.3deg [env.py: 1019] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:58:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.2ms [env.py: 1075] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.914, -0.169) [env.py: 1079] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/11 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:58:22 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/11 22:58:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 22:58:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.991s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:58:23 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.682[m] 74.600[deg] [grasp_sample.py: 539] +05/11 22:58:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.578s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:58:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.676[m] 98.764[deg] [grasp_sample.py: 539] +05/11 22:58:24 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:58:25 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:58:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136513m [env.py: 870] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48101834 -0.90478944 -0.13651335] yaw=-57.6deg [env.py: 1019] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:58:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.3ms [env.py: 1075] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.481, -0.905, -0.137) [env.py: 1079] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:58:26 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/11 22:58:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 22:58:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:58:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:58:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:58:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:58:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:58:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103904m [env.py: 870] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:58:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40405177 -1.04604262 -0.10390436] yaw=-45.7deg [env.py: 1019] +05/11 22:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59070382 -0.8177803 -0.10390436] yaw=-60.1deg [env.py: 1019] +05/11 22:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=208.0ms [env.py: 1075] +05/11 22:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.046, -0.104) [env.py: 1079] +05/11 22:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/11 22:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/11 22:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:58:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:58:27 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/11 22:58:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 22:58:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:58:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:58:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:58:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.509s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:58:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.718[m] 77.987[deg] [grasp_sample.py: 539] +05/11 22:58:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.794s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:58:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.758[m] 81.012[deg] [grasp_sample.py: 539] +05/11 22:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:58:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:58:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:58:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:58:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:58:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:58:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:58:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:58:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:58:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:59:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:59:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:59:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:59:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:59:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:59:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:59:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.491s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:59:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.090[m] 15.878[deg] [grasp_sample.py: 539] +05/11 22:59:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:59:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:59:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 22:59:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 22:59:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:59:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:59:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:59:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.506s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:59:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.164[m] 15.110[deg] [grasp_sample.py: 539] +05/11 22:59:35 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 22:59:36 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 22:59:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 22:59:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 22:59:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:59:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 22:59:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 22:59:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 22:59:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146337m [env.py: 870] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 22:59:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48449682 -1.05082897 -0.14633691] yaw=-57.4deg [env.py: 1019] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34686221 -1.18971083 -0.14633691] yaw=-39.5deg [env.py: 1019] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32729952 -1.04071103 -0.14633691] yaw=-47.3deg [env.py: 1019] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 22:59:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.9ms, total=163.9ms [env.py: 1075] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -1.051, -0.146) [env.py: 1079] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg [env.py: 1082] +05/11 22:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 22:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 22:59:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 22:59:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 22:59:38 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/11 22:59:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 22:59:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 22:59:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 22:59:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 22:59:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.775s, found feasible grasp: True [grasp_sample.py: 500] +05/11 22:59:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.645[m] 83.304[deg] [grasp_sample.py: 539] +05/11 22:59:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 22:59:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 22:59:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 22:59:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 22:59:54 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 22:59:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 22:59:54 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/11 22:59:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 22:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:00 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:00:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:00:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:00:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:00:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.82s (batch: 3.09s, save: 8.73s) [pipeline.py: 300] +05/11 23:00:07 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.56s: + episode_total: mean=134.47s, total=134.47s, count=1, min=134467.6ms, max=134467.6ms + sensor_polling: mean=339.4ms, total=92.65s, count=273, min=303.3ms, max=600.6ms + save_trajectories: mean=8.73s, total=8.73s, count=1, min=8729.3ms, max=8729.3ms + physics_step: mean=22.1ms, total=6.02s, count=273, min=17.2ms, max=37.3ms + save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3086.6ms, max=3086.6ms + task_sampling: mean=561.8ms, total=561.8ms, count=1, min=561.8ms, max=561.8ms + task_specific_sample: mean=558.5ms, total=558.5ms, count=1, min=558.5ms, max=558.5ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=367.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:00:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.315s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.480[m] 57.353[deg] [grasp_sample.py: 539] +05/11 23:00:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:00:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:00:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:00:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193498m [env.py: 870] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.68495625 -0.96275223 -0.19349822] yaw=-69.9deg [env.py: 1019] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.1ms, total=209.2ms [env.py: 1075] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.685, -0.963, -0.193) [env.py: 1079] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.9 deg [env.py: 1082] +05/11 23:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:08 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.596s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.612[m] 84.672[deg] [grasp_sample.py: 539] +05/11 23:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:10 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:00:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161253m [env.py: 870] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5788644 -0.95892769 -0.16125265] yaw=-67.9deg [env.py: 1019] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.9ms, total=231.9ms [env.py: 1075] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.579, -0.959, -0.161) [env.py: 1079] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/11 23:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:12 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:13 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.668[m] 83.028[deg] [grasp_sample.py: 539] +05/11 23:00:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:00:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:00:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:00:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:00:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.546s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.480[m] 57.355[deg] [grasp_sample.py: 539] +05/11 23:00:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:00:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:00:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:00:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:00:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:00:22 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/11 23:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:26 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:00:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:00:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.445s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.480[m] 57.355[deg] [grasp_sample.py: 539] +05/11 23:00:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:00:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:00:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:00:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:00:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.41s (batch: 3.75s, save: 8.66s) [pipeline.py: 300] +05/11 23:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:35 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.83s: + episode_total: mean=54.32s, total=162.95s, count=3, min=243.2ms, max=152633.1ms + sensor_polling: mean=401.0ms, total=106.25s, count=265, min=302.9ms, max=645.3ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8655.8ms, max=8655.8ms + physics_step: mean=25.3ms, total=6.71s, count=265, min=14.7ms, max=78.1ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.8ms, max=3752.8ms + task_specific_sample: mean=352.8ms, total=1.06s, count=3, min=238.4ms, max=459.5ms + task_sampling: mean=412.6ms, total=825.1ms, count=2, min=362.5ms, max=462.6ms + task_sampling_failed: mean=243.2ms, total=243.2ms, count=1, min=243.2ms, max=243.2ms + scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=0.9ms, max=3.2ms + mj_forward_sync: mean=385.0us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156589m [env.py: 870] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=211.4ms, total=211.5ms [env.py: 1105] +05/11 23:00:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:00:36 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128917m [env.py: 870] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.217035 -0.91122292 -0.12891661] yaw=-56.3deg [env.py: 1019] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.430361 -0.77467252 -0.12891661] yaw=-72.7deg [env.py: 1019] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.2ms, total=182.2ms [env.py: 1075] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -0.911, -0.129) [env.py: 1079] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/11 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m [env.py: 1086] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:38 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.427s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:00:40 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:00:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:00:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123819m [env.py: 870] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42718878 -0.95662998 -0.12381862] yaw=-66.6deg [env.py: 1019] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.6ms, total=192.7ms [env.py: 1075] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -0.957, -0.124) [env.py: 1079] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/11 23:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:42 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.619s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:42 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.498[m] 57.072[deg] [grasp_sample.py: 539] +05/11 23:00:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:00:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:00:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:00:44 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/11 23:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:00:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:46 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:00:46 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=False episode_total=2.09s: + episode_total: mean=30.17s, total=150.87s, count=5, min=2060.8ms, max=70862.5ms + sensor_polling: mean=325.8ms, total=75.59s, count=232, min=295.7ms, max=524.5ms + physics_step: mean=19.7ms, total=4.58s, count=232, min=12.9ms, max=27.6ms + task_sampling: mean=417.8ms, total=2.09s, count=5, min=361.7ms, max=476.2ms + task_specific_sample: mean=414.9ms, total=2.07s, count=5, min=357.0ms, max=474.1ms + scene_randomize: mean=1.5ms, total=7.6ms, count=5, min=0.9ms, max=3.2ms + mj_forward_sync: mean=441.6us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168111m [env.py: 870] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33506128 -1.15941924 -0.16811119] yaw=-36.6deg [env.py: 1019] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.3ms, total=166.3ms [env.py: 1075] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.159, -0.168) [env.py: 1079] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.6 deg [env.py: 1082] +05/11 23:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:47 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.599s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.658[m] 87.320[deg] [grasp_sample.py: 539] +05/11 23:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:50 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:00:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.419s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:50 INFO: [Worker 0] Feasible grasp found 135 (originally 135): w/ 0.721[m] 90.512[deg] [grasp_sample.py: 539] +05/11 23:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:51 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:00:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152069m [env.py: 870] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42863183 -0.90747733 -0.15206949] yaw=-63.1deg [env.py: 1019] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=162.5ms, total=162.6ms [env.py: 1075] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -0.907, -0.152) [env.py: 1079] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/11 23:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:52 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182429m [env.py: 870] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46338471 -1.06459103 -0.18242868] yaw=-59.1deg [env.py: 1019] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=349.1ms, total=349.2ms [env.py: 1075] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -1.065, -0.182) [env.py: 1079] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/11 23:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:53 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:00:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:00:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.641s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:55 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.642[m] 83.086[deg] [grasp_sample.py: 539] +05/11 23:00:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:00:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:00:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:00:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:55 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.498[m] 57.074[deg] [grasp_sample.py: 539] +05/11 23:00:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:00:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:00:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:00:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:00:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:00:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:00:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.42s (batch: 3.11s, save: 9.31s) [pipeline.py: 300] +05/11 23:00:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.958s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:00:57 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.748[m] 97.824[deg] [grasp_sample.py: 539] +05/11 23:00:57 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=2.18s: + episode_total: mean=21.87s, total=196.84s, count=9, min=205.4ms, max=150636.6ms + sensor_polling: mean=374.2ms, total=122.37s, count=327, min=318.4ms, max=661.5ms + save_trajectories: mean=9.31s, total=9.31s, count=1, min=9309.9ms, max=9309.9ms + physics_step: mean=22.1ms, total=7.23s, count=327, min=14.5ms, max=94.0ms + task_specific_sample: mean=411.3ms, total=3.70s, count=9, min=202.4ms, max=869.3ms + save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3113.5ms, max=3113.5ms + task_sampling: mean=436.4ms, total=2.18s, count=5, min=403.1ms, max=489.9ms + task_sampling_failed: mean=390.5ms, total=1.56s, count=4, min=205.4ms, max=890.3ms + scene_randomize: mean=1.2ms, total=10.7ms, count=9, min=0.9ms, max=2.4ms + mj_forward_sync: mean=426.8us, total=3.8ms, count=9, min=0.4ms, max=0.5ms + policy_setup: mean=15.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:58 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:00:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114415m [env.py: 870] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.16677864 -0.97030628 -0.11441513] yaw=-54.8deg [env.py: 1019] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=326.1ms, total=326.1ms [env.py: 1075] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -0.970, -0.114) [env.py: 1079] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:59 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:00:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:00:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:00:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:00:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:00:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:00:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142190m [env.py: 870] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:00:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24165733 -0.93849414 -0.14218987] yaw=-59.4deg [env.py: 1019] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.1ms [env.py: 1075] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -0.938, -0.142) [env.py: 1079] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/11 23:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:00:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:00:59 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/11 23:00:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 23:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:00:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:01:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.474s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:01:01 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:01:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:01:01 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:01:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:01:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:01:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:01:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:01:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:01:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138071m [env.py: 870] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:01:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2626611 -1.21496292 -0.13807118] yaw=-42.2deg [env.py: 1019] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5283083 -0.8866155 -0.13807118] yaw=-60.3deg [env.py: 1019] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:01:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=206.0ms [env.py: 1075] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -1.215, -0.138) [env.py: 1079] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:01:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:01:02 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/11 23:01:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:01:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:01:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:01:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:01:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:01:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:01:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:01:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:01:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:01:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113279m [env.py: 870] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:01:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.2ms, total=231.3ms [env.py: 1105] +05/11 23:01:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:01:03 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:01:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:01:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:01:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:01:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:01:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:01:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123133m [env.py: 870] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:01:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2755095 -1.20462077 -0.12313305] yaw=-27.8deg [env.py: 1019] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:01:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms [env.py: 1075] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -1.205, -0.123) [env.py: 1079] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.8 deg [env.py: 1082] +05/11 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:01:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:01:04 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/11 23:01:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:01:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:01:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:01:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.623s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:01:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.677[m] 85.307[deg] [grasp_sample.py: 539] +05/11 23:01:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:01:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:01:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:01:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:01:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:01:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:01:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:01:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:01:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.517s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:01:08 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.678[m] 86.609[deg] [grasp_sample.py: 539] +05/11 23:01:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:01:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:01:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:01:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:01:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.538s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:01:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.498[m] 57.074[deg] [grasp_sample.py: 539] +05/11 23:01:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:01:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:01:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:01:23 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:01:23 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:01:23 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.90s: + episode_total: mean=36.99s, total=73.98s, count=2, min=2323.0ms, max=71657.4ms + sensor_polling: mean=348.7ms, total=26.50s, count=76, min=296.0ms, max=449.7ms + physics_step: mean=19.3ms, total=1.47s, count=76, min=12.6ms, max=33.2ms + task_sampling: mean=448.8ms, total=897.7ms, count=2, min=438.0ms, max=459.7ms + task_specific_sample: mean=446.0ms, total=891.9ms, count=2, min=435.6ms, max=456.4ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=0.9ms, max=2.2ms + mj_forward_sync: mean=362.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:01:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:01:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:01:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:01:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:01:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:01:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:01:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191460m [env.py: 870] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:01:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45464895 -0.95250509 -0.19146046] yaw=-67.1deg [env.py: 1019] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:01:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.9ms, total=210.9ms [env.py: 1075] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.953, -0.191) [env.py: 1079] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg [env.py: 1082] +05/11 23:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:01:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:01:25 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/11 23:01:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:01:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:01:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:01:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:01:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.706s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:01:31 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.715[m] 83.967[deg] [grasp_sample.py: 539] +05/11 23:01:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:01:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:01:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:01:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:01:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:01:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:01:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:02:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:02:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:02:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:02:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:02:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:02:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:02:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:02:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:02:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:02:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:02:39 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:02:41 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:02:47 INFO: [Worker 0] Object is not in grasp! 0.00122 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:02:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:02:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:02:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:02:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 404 non-colliding grasps [grasp_sample.py: 465] +05/11 23:02:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.413s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:02:48 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.139[m] 3.784[deg] [grasp_sample.py: 539] +05/11 23:02:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:02:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:02:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:02:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:02:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:02:57 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/11 23:02:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:03:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:03:00 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/11 23:03:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:03:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:03:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:03:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.87s (batch: 3.79s, save: 10.09s) [pipeline.py: 300] +05/11 23:03:12 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=1.41s: + episode_total: mean=37.90s, total=151.61s, count=4, min=225.7ms, max=139229.7ms + sensor_polling: mean=339.0ms, total=89.15s, count=263, min=300.7ms, max=640.4ms + save_trajectories: mean=10.09s, total=10.09s, count=1, min=10086.3ms, max=10086.3ms + physics_step: mean=21.8ms, total=5.74s, count=263, min=14.3ms, max=68.6ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.7ms, max=3787.7ms + task_specific_sample: mean=404.2ms, total=1.62s, count=4, min=219.3ms, max=567.0ms + task_sampling: mean=468.5ms, total=1.41s, count=3, min=404.3ms, max=570.2ms + task_sampling_failed: mean=225.7ms, total=225.7ms, count=1, min=225.7ms, max=225.7ms + scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=0.9ms, max=2.7ms + mj_forward_sync: mean=487.7us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:03:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:03:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:03:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.91s (batch: 3.20s, save: 8.70s) [pipeline.py: 300] +05/11 23:03:13 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.52s: + episode_total: mean=28.18s, total=140.90s, count=5, min=240.0ms, max=128834.9ms + sensor_polling: mean=314.4ms, total=86.16s, count=274, min=291.8ms, max=464.9ms + save_trajectories: mean=8.70s, total=8.70s, count=1, min=8704.5ms, max=8704.5ms + physics_step: mean=21.0ms, total=5.75s, count=274, min=14.5ms, max=34.6ms + save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3201.6ms, max=3201.6ms + task_specific_sample: mean=349.0ms, total=1.74s, count=5, min=236.9ms, max=414.8ms + task_sampling: mean=379.5ms, total=1.52s, count=4, min=332.1ms, max=417.1ms + task_sampling_failed: mean=240.0ms, total=240.0ms, count=1, min=240.0ms, max=240.0ms + scene_randomize: mean=1.0ms, total=5.1ms, count=5, min=1.0ms, max=1.2ms + mj_forward_sync: mean=424.6us, total=2.1ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=11.9us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:03:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133952m [env.py: 870] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64363178 -0.88198548 -0.13395218] yaw=-74.6deg [env.py: 1019] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=312.3ms, total=312.3ms [env.py: 1075] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.644, -0.882, -0.134) [env.py: 1079] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg [env.py: 1082] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:14 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141664m [env.py: 870] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42071478 -0.95852937 -0.14166411] yaw=-49.5deg [env.py: 1019] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms [env.py: 1075] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -0.959, -0.142) [env.py: 1079] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/11 23:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:14 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:03:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:15 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.838s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.738[m] 80.701[deg] [grasp_sample.py: 539] +05/11 23:03:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.868s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.669[m] 87.021[deg] [grasp_sample.py: 539] +05/11 23:03:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:03:17 INFO: [Worker 0] Object is not in grasp! 0.00134 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:03:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 376 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:03:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.510s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:18 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.133[m] 3.066[deg] [grasp_sample.py: 539] +05/11 23:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:03:18 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:03:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:03:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163504m [env.py: 870] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36418012 -1.09688382 -0.16350432] yaw=-44.0deg [env.py: 1019] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32928303 -0.83885668 -0.16350432] yaw=-44.7deg [env.py: 1019] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.3ms, total=245.3ms [env.py: 1075] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.097, -0.164) [env.py: 1079] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg [env.py: 1082] +05/11 23:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:20 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.643s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:21 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.685[m] 88.552[deg] [grasp_sample.py: 539] +05/11 23:03:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:03:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:03:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:03:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:28 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:03:28 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=False episode_total=0.44s: + episode_total: mean=123.89s, total=123.89s, count=1, min=123890.3ms, max=123890.3ms + sensor_polling: mean=329.1ms, total=98.74s, count=300, min=300.9ms, max=647.4ms + physics_step: mean=21.7ms, total=6.50s, count=300, min=14.9ms, max=32.3ms + task_sampling: mean=436.1ms, total=436.1ms, count=1, min=436.1ms, max=436.1ms + task_specific_sample: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms + scene_randomize: mean=984.1us, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=358.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137138m [env.py: 870] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42478133 -0.98491188 -0.13713812] yaw=-62.2deg [env.py: 1019] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=261.2ms, total=261.2ms [env.py: 1075] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.985, -0.137) [env.py: 1079] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/11 23:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:30 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.566s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.728[m] 93.436[deg] [grasp_sample.py: 539] +05/11 23:03:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:03:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:03:32 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/11 23:03:33 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:03:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145214m [env.py: 870] +05/11 23:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18825151 -1.04879452 -0.14521443] yaw=-47.1deg [env.py: 1019] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=242.3ms, total=242.3ms [env.py: 1075] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -1.049, -0.145) [env.py: 1079] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/11 23:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/11 23:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:35 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.644s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:03:37 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129523m [env.py: 870] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67878713 -0.94768207 -0.1295227 ] yaw=-67.6deg [env.py: 1019] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29381356 -1.20488948 -0.1295227 ] yaw=-40.6deg [env.py: 1019] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms [env.py: 1075] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.679, -0.948, -0.130) [env.py: 1079] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg [env.py: 1082] +05/11 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:38 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.196s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.660[m] 100.795[deg] [grasp_sample.py: 539] +05/11 23:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:03:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:03:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:03:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:03:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.81s (batch: 3.10s, save: 8.72s) [pipeline.py: 300] +05/11 23:03:45 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.97s: + episode_total: mean=82.56s, total=165.11s, count=2, min=2225.2ms, max=162889.6ms + sensor_polling: mean=431.7ms, total=116.56s, count=270, min=332.0ms, max=691.2ms + save_trajectories: mean=8.72s, total=8.72s, count=1, min=8719.4ms, max=8719.4ms + physics_step: mean=26.6ms, total=7.19s, count=270, min=19.4ms, max=53.0ms + save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3095.3ms, max=3095.3ms + task_sampling: mean=483.3ms, total=966.6ms, count=2, min=405.0ms, max=561.7ms + task_specific_sample: mean=480.1ms, total=960.2ms, count=2, min=402.3ms, max=557.9ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms + mj_forward_sync: mean=399.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:03:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162078m [env.py: 870] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4189715 -0.84472606 -0.16207757] yaw=-62.7deg [env.py: 1019] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms [env.py: 1075] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -0.845, -0.162) [env.py: 1079] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/11 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:46 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.202s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:55 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 23:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:03:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:03:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:03:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:03:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:03:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140235m [env.py: 870] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:03:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61787356 -0.83558584 -0.14023502] yaw=-64.1deg [env.py: 1019] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:03:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=207.2ms, total=207.2ms [env.py: 1075] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.618, -0.836, -0.140) [env.py: 1079] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/11 23:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:03:57 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/11 23:03:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 23:03:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:03:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:03:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:03:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.813s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:03:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.732[m] 83.863[deg] [grasp_sample.py: 539] +05/11 23:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:03:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:03:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:04:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:04:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:04:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:04:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:04:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.152s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:04:11 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.581[m] 79.353[deg] [grasp_sample.py: 539] +05/11 23:04:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:04:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:04:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:04:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:04:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:04:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:04:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:04:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:04:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:04:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:04:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:04:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 468 non-colliding grasps [grasp_sample.py: 465] +05/11 23:04:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.558s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:04:29 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.069[m] 6.741[deg] [grasp_sample.py: 539] +05/11 23:04:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:04:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:04:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.238s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:04:30 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.577[m] 78.745[deg] [grasp_sample.py: 539] +05/11 23:04:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:04:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:04:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:04:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:04:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:04:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:04:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:04:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:04:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:04:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:04:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.310s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:04:41 INFO: [Worker 0] Feasible grasp found 552 (originally 552): w/ 0.221[m] 15.530[deg] [grasp_sample.py: 539] +05/11 23:04:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:04:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:04:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:04:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:04:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:04:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:04:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:04:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.348s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:04:44 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.488[m] 31.558[deg] [grasp_sample.py: 539] +05/11 23:04:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:04:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:04:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.416s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:04:49 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.577[m] 78.745[deg] [grasp_sample.py: 539] +05/11 23:04:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:04:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:04:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:05:00 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:05:00 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:05:00 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=False episode_total=1.38s: + episode_total: mean=29.20s, total=87.61s, count=3, min=2273.6ms, max=82006.8ms + sensor_polling: mean=323.2ms, total=21.33s, count=66, min=306.0ms, max=454.6ms + task_sampling: mean=458.7ms, total=1.38s, count=3, min=405.3ms, max=516.7ms + task_specific_sample: mean=455.8ms, total=1.37s, count=3, min=402.5ms, max=513.7ms + physics_step: mean=18.5ms, total=1.22s, count=66, min=12.9ms, max=27.1ms + scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.6ms + mj_forward_sync: mean=403.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:05:01 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147111m [env.py: 870] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.3ms, total=231.3ms [env.py: 1105] +05/11 23:05:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:05:02 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:05:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184321m [env.py: 870] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=305.0ms, total=305.1ms [env.py: 1105] +05/11 23:05:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:05:03 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132436m [env.py: 870] +05/11 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.7ms, total=185.7ms [env.py: 1105] +05/11 23:05:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:05:05 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193510m [env.py: 870] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=184.9ms, total=184.9ms [env.py: 1105] +05/11 23:05:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:05:06 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168800m [env.py: 870] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.5ms, total=193.5ms [env.py: 1105] +05/11 23:05:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:05:07 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122004m [env.py: 870] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54919163 -0.94663265 -0.12200395] yaw=-73.3deg [env.py: 1019] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=288.5ms, total=288.6ms [env.py: 1075] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.947, -0.122) [env.py: 1079] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/11 23:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:09 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.427s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.721[m] 89.677[deg] [grasp_sample.py: 539] +05/11 23:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:12 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:05:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:05:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121609m [env.py: 870] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50657916 -1.03478137 -0.12160901] yaw=-58.5deg [env.py: 1019] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35480884 -1.02709755 -0.12160901] yaw=-55.1deg [env.py: 1019] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=205.2ms, total=205.2ms [env.py: 1075] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -1.035, -0.122) [env.py: 1079] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/11 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/11 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:14 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.800s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.634[m] 86.766[deg] [grasp_sample.py: 539] +05/11 23:05:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:05:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:05:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.629s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:23 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.080[m] 10.268[deg] [grasp_sample.py: 539] +05/11 23:05:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:05:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:05:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:24 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:05:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:05:24 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/11 23:05:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:05:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:05:25 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:05:25 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=False episode_total=0.65s: + episode_total: mean=131.29s, total=131.29s, count=1, min=131290.2ms, max=131290.2ms + sensor_polling: mean=343.0ms, total=78.55s, count=229, min=293.2ms, max=698.4ms + physics_step: mean=21.4ms, total=4.90s, count=229, min=15.3ms, max=61.3ms + task_sampling: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms + task_specific_sample: mean=642.4ms, total=642.4ms, count=1, min=642.4ms, max=642.4ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=621.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162636m [env.py: 870] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35403436 -0.84983747 -0.16263649] yaw=-54.2deg [env.py: 1019] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59527173 -0.7709748 -0.16263649] yaw=-58.6deg [env.py: 1019] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62069479 -0.97508883 -0.16263649] yaw=-63.2deg [env.py: 1019] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.8ms, total=258.9ms [env.py: 1075] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -0.850, -0.163) [env.py: 1079] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/11 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:26 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.316s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:05:28 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114293m [env.py: 870] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=309.4ms, total=309.4ms [env.py: 1105] +05/11 23:05:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:05:29 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154199m [env.py: 870] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39100916 -0.91370708 -0.15419882] yaw=-61.7deg [env.py: 1019] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53538992 -0.86073905 -0.15419882] yaw=-69.1deg [env.py: 1019] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.2ms [env.py: 1075] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.914, -0.154) [env.py: 1079] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg [env.py: 1082] +05/11 23:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:31 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:05:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.472s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.748[m] 91.583[deg] [grasp_sample.py: 539] +05/11 23:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:34 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162131m [env.py: 870] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32621512 -0.92825613 -0.16213104] yaw=-57.3deg [env.py: 1019] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.770s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:35 INFO: [Worker 0] Feasible grasp found 28 (originally 28): w/ 0.133[m] 10.314[deg] [grasp_sample.py: 539] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.66778763 -0.97247986 -0.16213104] yaw=-79.6deg [env.py: 1019] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.9ms [env.py: 1075] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -0.928, -0.162) [env.py: 1079] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/11 23:05:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:05:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:36 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:05:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:05:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:05:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.88s (batch: 4.17s, save: 9.72s) [pipeline.py: 300] +05/11 23:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:38 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.92s: + episode_total: mean=71.32s, total=142.65s, count=2, min=3737.6ms, max=138910.7ms + sensor_polling: mean=328.3ms, total=89.96s, count=274, min=290.2ms, max=553.9ms + save_trajectories: mean=9.72s, total=9.72s, count=1, min=9716.5ms, max=9716.5ms + physics_step: mean=21.9ms, total=6.00s, count=274, min=15.6ms, max=32.5ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.0ms, max=4167.0ms + task_sampling: mean=461.8ms, total=923.7ms, count=2, min=460.5ms, max=463.2ms + task_specific_sample: mean=458.1ms, total=916.2ms, count=2, min=457.5ms, max=458.7ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=3.0ms + mj_forward_sync: mean=559.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:05:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:05:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120299m [env.py: 870] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=362.5ms, total=362.5ms [env.py: 1105] +05/11 23:05:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:05:40 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145958m [env.py: 870] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27671433 -1.19709166 -0.14595787] yaw=-30.8deg [env.py: 1019] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53141656 -1.03741701 -0.14595787] yaw=-65.1deg [env.py: 1019] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.1ms, total=201.2ms [env.py: 1075] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.197, -0.146) [env.py: 1079] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.8 deg [env.py: 1082] +05/11 23:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:41 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.166s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:44 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.535[m] 63.422[deg] [grasp_sample.py: 539] +05/11 23:05:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:05:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:05:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.003s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:47 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.682[m] 89.192[deg] [grasp_sample.py: 539] +05/11 23:05:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:05:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:05:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.696s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:47 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.726[m] 95.859[deg] [grasp_sample.py: 539] +05/11 23:05:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:05:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.253s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:48 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.174[m] 11.284[deg] [grasp_sample.py: 539] +05/11 23:05:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:05:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:05:48 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:05:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121903m [env.py: 870] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62968255 -0.82942313 -0.12190294] yaw=-62.8deg [env.py: 1019] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms [env.py: 1075] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.630, -0.829, -0.122) [env.py: 1079] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/11 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:50 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.368s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:05:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.746[m] 96.880[deg] [grasp_sample.py: 539] +05/11 23:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:53 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160277m [env.py: 870] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2702446 -0.9178319 -0.16027673] yaw=-61.0deg [env.py: 1019] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34759678 -0.95255809 -0.16027673] yaw=-56.5deg [env.py: 1019] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.0ms, total=223.0ms [env.py: 1075] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -0.918, -0.160) [env.py: 1079] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/11 23:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:54 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:05:56 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:05:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:05:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182936m [env.py: 870] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:05:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4798432 -0.75567203 -0.18293587] yaw=-65.4deg [env.py: 1019] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31200775 -0.96198195 -0.18293587] yaw=-54.2deg [env.py: 1019] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.7ms [env.py: 1075] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.756, -0.183) [env.py: 1079] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/11 23:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:05:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:05:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:05:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:05:57 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/11 23:05:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:05:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:05:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:05:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:05:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:05:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.526s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:05:59 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:06:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157379m [env.py: 870] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30898655 -1.17811821 -0.15737899] yaw=-37.3deg [env.py: 1019] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56313175 -1.01160358 -0.15737899] yaw=-59.6deg [env.py: 1019] +05/11 23:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=351.2ms, total=351.2ms [env.py: 1075] +05/11 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -1.178, -0.157) [env.py: 1079] +05/11 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/11 23:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/11 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:06:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:01 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.425s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:02 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.535[m] 63.424[deg] [grasp_sample.py: 539] +05/11 23:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:06:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.664[m] 76.253[deg] [grasp_sample.py: 539] +05/11 23:06:03 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:06:04 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:06:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:06:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:06:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:06:04 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:06:04 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=False episode_total=0.86s: + episode_total: mean=68.35s, total=136.70s, count=2, min=8864.9ms, max=127832.0ms + sensor_polling: mean=400.8ms, total=74.95s, count=187, min=313.5ms, max=614.3ms + physics_step: mean=23.4ms, total=4.37s, count=187, min=15.0ms, max=34.4ms + task_sampling: mean=432.3ms, total=864.5ms, count=2, min=419.4ms, max=445.1ms + task_specific_sample: mean=428.8ms, total=857.5ms, count=2, min=416.8ms, max=440.7ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=0.9ms, max=2.8ms + mj_forward_sync: mean=488.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=13.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:06:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190252m [env.py: 870] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.2ms, total=192.3ms [env.py: 1105] +05/11 23:06:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:06:04 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:06:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136315m [env.py: 870] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56524333 -0.85437537 -0.1363149 ] yaw=-61.8deg [env.py: 1019] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=260.6ms, total=260.6ms [env.py: 1075] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.854, -0.136) [env.py: 1079] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg [env.py: 1082] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:05 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152447m [env.py: 870] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24040548 -1.09968259 -0.15244654] yaw=-36.8deg [env.py: 1019] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.1ms, total=212.2ms [env.py: 1075] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -1.100, -0.152) [env.py: 1079] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg [env.py: 1082] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:06 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109880m [env.py: 870] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38813594 -0.83589806 -0.10987988] yaw=-58.5deg [env.py: 1019] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.1ms, total=219.1ms [env.py: 1075] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -0.836, -0.110) [env.py: 1079] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/11 23:06:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:07 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.558s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.731[m] 78.312[deg] [grasp_sample.py: 539] +05/11 23:06:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.605s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.709[m] 85.361[deg] [grasp_sample.py: 539] +05/11 23:06:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.465s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:06:08 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:06:08 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:06:09 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:06:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197514m [env.py: 870] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118551m [env.py: 870] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30468038 -1.13623745 -0.19751351] yaw=-44.2deg [env.py: 1019] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2729147 -0.94699674 -0.11855054] yaw=-40.7deg [env.py: 1019] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54196728 -0.85301392 -0.19751351] yaw=-70.6deg [env.py: 1019] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45488824 -0.80950624 -0.11855054] yaw=-64.1deg [env.py: 1019] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.8ms, total=254.8ms [env.py: 1075] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -0.947, -0.119) [env.py: 1079] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=290.9ms, total=290.9ms [env.py: 1075] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -1.136, -0.198) [env.py: 1079] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:10 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:10 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183373m [env.py: 870] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32692823 -0.94240985 -0.18337288] yaw=-53.1deg [env.py: 1019] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms [env.py: 1075] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -0.942, -0.183) [env.py: 1079] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/11 23:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:11 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.516s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:06:12 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:06:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.686s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:12 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.589[m] 91.762[deg] [grasp_sample.py: 539] +05/11 23:06:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:06:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:06:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:06:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120578m [env.py: 870] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=274.6ms, total=274.7ms [env.py: 1105] +05/11 23:06:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:06:13 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109381m [env.py: 870] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24171889 -0.98205137 -0.10938093] yaw=-47.5deg [env.py: 1019] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=296.0ms, total=296.1ms [env.py: 1075] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -0.982, -0.109) [env.py: 1079] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/11 23:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.193s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.749[m] 100.066[deg] [grasp_sample.py: 539] +05/11 23:06:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:15 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:16 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:06:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.351s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:06:17 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:06:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148091m [env.py: 870] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3374353 -0.86739924 -0.14809061] yaw=-48.8deg [env.py: 1019] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40906878 -1.10410858 -0.14809061] yaw=-45.9deg [env.py: 1019] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.5ms, total=231.6ms [env.py: 1075] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -0.867, -0.148) [env.py: 1079] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg [env.py: 1082] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170189m [env.py: 870] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:18 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42036502 -0.80240567 -0.17018905] yaw=-55.4deg [env.py: 1019] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=283.3ms, total=283.3ms [env.py: 1075] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.802, -0.170) [env.py: 1079] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/11 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:18 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.589s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:06:20 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:06:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.354s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:06:20 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:06:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174651m [env.py: 870] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34438071 -1.15993603 -0.17465095] yaw=-54.4deg [env.py: 1019] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107092m [env.py: 870] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.1ms [env.py: 1075] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -1.160, -0.175) [env.py: 1079] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35258175 -0.83769309 -0.1070917 ] yaw=-60.1deg [env.py: 1019] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12617234 -1.02250496 -0.1070917 ] yaw=-46.8deg [env.py: 1019] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35890933 -0.94576409 -0.1070917 ] yaw=-45.7deg [env.py: 1019] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.3ms [env.py: 1075] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -0.838, -0.107) [env.py: 1079] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/11 23:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:22 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:22 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:06:23 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:06:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.542s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.589[m] 90.950[deg] [grasp_sample.py: 539] +05/11 23:06:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:06:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:06:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:06:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:06:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:06:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:06:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:06:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:06:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:06:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164481m [env.py: 870] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:06:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21938558 -1.02187308 -0.16448137] yaw=-40.3deg [env.py: 1019] +05/11 23:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.3ms [env.py: 1075] +05/11 23:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.022, -0.164) [env.py: 1079] +05/11 23:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/11 23:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/11 23:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:06:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:06:25 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/11 23:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:06:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:06:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:06:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.371s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:06:27 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.764[m] 75.013[deg] [grasp_sample.py: 539] +05/11 23:06:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:06:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:06:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:06:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:06:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:07:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:07:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:07:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:07:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:07:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:07:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:07:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:07:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/11 23:07:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:07:23 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.118[m] 4.904[deg] [grasp_sample.py: 539] +05/11 23:07:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:07:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:07:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:24 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:07:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:07:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:07:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:07:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/11 23:07:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.365s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:07:25 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.118[m] 5.005[deg] [grasp_sample.py: 539] +05/11 23:07:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:07:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:07:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:07:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:28 INFO: [Worker 0] Object is not in grasp! 0.00056 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:07:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:07:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:07:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:07:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:07:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.519s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:07:35 INFO: [Worker 0] Feasible grasp found 840 (originally 176): w/ 0.969[m] 85.463[deg] [grasp_sample.py: 539] +05/11 23:07:36 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:07:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:07:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:07:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:07:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:07:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:07:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:07:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:07:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:07:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171779m [env.py: 870] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:07:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.0ms, total=202.1ms [env.py: 1105] +05/11 23:07:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:07:37 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:07:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:07:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:07:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:07:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:07:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:07:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:07:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118491m [env.py: 870] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:07:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31360479 -1.03187609 -0.11849119] yaw=-38.2deg [env.py: 1019] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:07:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.3ms [env.py: 1075] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.032, -0.118) [env.py: 1079] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/11 23:07:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:07:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:07:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:07:39 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/11 23:07:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:07:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:07:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:07:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:07:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.493s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:07:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.733[m] 86.185[deg] [grasp_sample.py: 539] +05/11 23:07:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:07:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:07:42 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:07:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:07:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:07:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:07:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:07:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:07:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:07:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141786m [env.py: 870] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:07:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:07:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.7ms, total=203.8ms [env.py: 1105] +05/11 23:07:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:07:43 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:07:45 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:07:45 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:07:45 INFO: [Worker 0] Worker 0 completed house 1: 7/11 successful episodes [pipeline.py: 1323] +05/11 23:07:45 INFO: [Worker 0] [PROFILE] House 1 complete: 7/11 successful, 11 episodes, total_time=3315.15s + House averages: + episode_total: mean=27.46s, total=1977.07s, count=72, min=192.4ms, max=189854.8ms + sensor_polling: mean=345.0ms, total=1107.55s, count=3210, min=288.1ms, max=774.2ms + physics_step: mean=22.3ms, total=71.48s, count=3210, min=12.6ms, max=91.6ms + save_trajectories: mean=9.03s, total=63.23s, count=7, min=8605.2ms, max=9699.3ms + task_specific_sample: mean=383.6ms, total=27.62s, count=72, min=188.3ms, max=809.5ms + task_sampling: mean=578.4ms, total=26.60s, count=46, min=376.7ms, max=5489.5ms + save_batch_prep: mean=3.46s, total=24.20s, count=7, min=3086.6ms, max=3710.5ms + task_sampling_failed: mean=227.1ms, total=5.90s, count=26, min=192.3ms, max=441.1ms + scene_load: mean=4.68s, total=4.68s, count=1, min=4677.7ms, max=4677.7ms + scene_env_create: mean=2.59s, total=2.59s, count=1, min=2594.6ms, max=2594.6ms + scene_compile: mean=1.94s, total=1.94s, count=1, min=1940.1ms, max=1940.1ms + compile_mujoco: mean=1.28s, total=1.28s, count=1, min=1284.2ms, max=1284.2ms + compile_xml_load: mean=566.9ms, total=566.9ms, count=1, min=566.9ms, max=566.9ms + scene_init: mean=98.7ms, total=98.7ms, count=1, min=98.7ms, max=98.7ms + scene_randomize: mean=1.2ms, total=88.7ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_robot_add: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + mj_forward_sync: mean=413.8us, total=29.8ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=15.5us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 23:07:45 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 23:07:45 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3315.15s + Worker averages: + episode_total: mean=27.46s, total=1977.07s, count=72, min=192.4ms, max=189854.8ms + sensor_polling: mean=345.0ms, total=1107.55s, count=3210, min=288.1ms, max=774.2ms + physics_step: mean=22.3ms, total=71.48s, count=3210, min=12.6ms, max=91.6ms + save_trajectories: mean=9.03s, total=63.23s, count=7, min=8605.2ms, max=9699.3ms + task_specific_sample: mean=383.6ms, total=27.62s, count=72, min=188.3ms, max=809.5ms + task_sampling: mean=578.4ms, total=26.60s, count=46, min=376.7ms, max=5489.5ms + save_batch_prep: mean=3.46s, total=24.20s, count=7, min=3086.6ms, max=3710.5ms + task_sampling_failed: mean=227.1ms, total=5.90s, count=26, min=192.3ms, max=441.1ms + scene_load: mean=4.68s, total=4.68s, count=1, min=4677.7ms, max=4677.7ms + scene_env_create: mean=2.59s, total=2.59s, count=1, min=2594.6ms, max=2594.6ms + scene_compile: mean=1.94s, total=1.94s, count=1, min=1940.1ms, max=1940.1ms + compile_mujoco: mean=1.28s, total=1.28s, count=1, min=1284.2ms, max=1284.2ms + compile_xml_load: mean=566.9ms, total=566.9ms, count=1, min=566.9ms, max=566.9ms + scene_init: mean=98.7ms, total=98.7ms, count=1, min=98.7ms, max=98.7ms + scene_randomize: mean=1.2ms, total=88.7ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_robot_add: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + mj_forward_sync: mean=413.8us, total=29.8ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=15.5us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 23:07:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:47 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 23:07:47 INFO: Success count: 7, Total count: 11 [pipeline.py: 1491] +05/11 23:07:47 INFO: Success rate: 63.64% [pipeline.py: 1492] +05/11 23:07:52 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:07:52 INFO: [Worker 0] Object is not in grasp! 0.00184 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:07:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:07:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:07:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:07:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 414 non-colliding grasps [grasp_sample.py: 465] +05/11 23:07:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.295s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:07:53 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.052[m] 1.860[deg] [grasp_sample.py: 539] +05/11 23:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:54 INFO: [Worker 0] Object is not in grasp! 0.00197 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:07:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:07:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:07:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:07:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 413 non-colliding grasps [grasp_sample.py: 465] +05/11 23:07:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.304s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:07:54 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.052[m] 1.716[deg] [grasp_sample.py: 539] +05/11 23:07:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:07:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:07:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:07:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:08:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:08:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:08:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:08:10 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/11 23:08:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:08:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:08:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.287s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:12 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.596[deg] [grasp_sample.py: 539] +05/11 23:08:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:08:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:08:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:18 INFO: [Worker 0] Object is not in grasp! 0.00102 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:08:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 390 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.291s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:18 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.134[m] 3.685[deg] [grasp_sample.py: 539] +05/11 23:08:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:08:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:08:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:08:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:08:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.89s (batch: 3.02s, save: 8.87s) [pipeline.py: 300] +05/11 23:08:22 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:08:22 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=4.17s: + episode_total: mean=16.48s, total=164.76s, count=10, min=317.7ms, max=132367.7ms + sensor_polling: mean=379.3ms, total=113.79s, count=300, min=269.1ms, max=644.5ms + physics_step: mean=25.2ms, total=7.55s, count=300, min=14.6ms, max=59.2ms + task_specific_sample: mean=445.9ms, total=4.46s, count=10, min=313.9ms, max=569.4ms + task_sampling: mean=463.0ms, total=4.17s, count=9, min=415.2ms, max=571.6ms + task_sampling_failed: mean=317.7ms, total=317.7ms, count=1, min=317.7ms, max=317.7ms + scene_randomize: mean=1.1ms, total=10.6ms, count=10, min=0.9ms, max=1.6ms + mj_forward_sync: mean=418.0us, total=4.2ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=10.4us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:08:22 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.44s: + episode_total: mean=80.92s, total=161.84s, count=2, min=372.8ms, max=161472.2ms + sensor_polling: mean=419.0ms, total=115.23s, count=275, min=306.2ms, max=690.7ms + save_trajectories: mean=8.87s, total=8.87s, count=1, min=8871.1ms, max=8871.1ms + physics_step: mean=26.0ms, total=7.16s, count=275, min=19.2ms, max=65.7ms + save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3020.9ms, max=3020.9ms + task_specific_sample: mean=402.7ms, total=805.3ms, count=2, min=368.2ms, max=437.1ms + task_sampling: mean=440.1ms, total=440.1ms, count=1, min=440.1ms, max=440.1ms + task_sampling_failed: mean=372.8ms, total=372.8ms, count=1, min=372.8ms, max=372.8ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.3ms, max=2.4ms + mj_forward_sync: mean=453.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:08:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156060m [env.py: 870] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36788245 -1.04484328 -0.1560602 ] yaw=-39.2deg [env.py: 1019] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms [env.py: 1075] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -1.045, -0.156) [env.py: 1079] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg [env.py: 1082] +05/11 23:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:23 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121227m [env.py: 870] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28061945 -0.93799235 -0.12122685] yaw=-52.2deg [env.py: 1019] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.9ms [env.py: 1075] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.938, -0.121) [env.py: 1079] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/11 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m [env.py: 1086] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:24 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.667s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.697[m] 78.789[deg] [grasp_sample.py: 539] +05/11 23:08:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.749s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:08:26 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:08:26 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:08:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186201m [env.py: 870] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.0ms, total=158.0ms [env.py: 1105] +05/11 23:08:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:08:27 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:08:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192568m [env.py: 870] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39411787 -0.91493627 -0.19256812] yaw=-45.3deg [env.py: 1019] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4142248 -1.00171363 -0.19256812] yaw=-59.4deg [env.py: 1019] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.8ms, total=204.9ms [env.py: 1075] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.915, -0.193) [env.py: 1079] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/11 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:28 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:08:28 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=1.84s: + episode_total: mean=34.65s, total=138.59s, count=4, min=2285.7ms, max=126914.3ms + sensor_polling: mean=362.6ms, total=108.78s, count=300, min=302.3ms, max=607.4ms + physics_step: mean=22.1ms, total=6.64s, count=300, min=14.9ms, max=60.6ms + task_sampling: mean=459.3ms, total=1.84s, count=4, min=453.1ms, max=462.9ms + task_specific_sample: mean=456.1ms, total=1.82s, count=4, min=450.7ms, max=460.2ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.1ms, max=2.1ms + mj_forward_sync: mean=435.9us, total=1.7ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=13.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:08:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:28 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115691m [env.py: 870] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47891478 -1.00909229 -0.11569134] yaw=-65.5deg [env.py: 1019] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.5ms, total=179.6ms [env.py: 1075] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -1.009, -0.116) [env.py: 1079] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg [env.py: 1082] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:29 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135904m [env.py: 870] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41418413 -0.87548503 -0.13590382] yaw=-56.3deg [env.py: 1019] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17479661 -1.06388685 -0.13590382] yaw=-47.5deg [env.py: 1019] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -0.875, -0.136) [env.py: 1079] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/11 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/11 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:30 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.870s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.703[m] 85.129[deg] [grasp_sample.py: 539] +05/11 23:08:31 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:08:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154755m [env.py: 870] +05/11 23:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.447s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:33 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.722[m] 96.888[deg] [grasp_sample.py: 539] +05/11 23:08:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=240.5ms, total=240.5ms [env.py: 1105] +05/11 23:08:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:08:33 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:08:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:08:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:08:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131543m [env.py: 870] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16251592 -1.03307086 -0.13154295] yaw=-40.0deg [env.py: 1019] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.049s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:34 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.771[m] 81.738[deg] [grasp_sample.py: 539] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.163, -1.033, -0.132) [env.py: 1079] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.0 deg [env.py: 1082] +05/11 23:08:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:34 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:35 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:08:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.274s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:08:36 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:08:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169609m [env.py: 870] +05/11 23:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.6ms, total=200.6ms [env.py: 1105] +05/11 23:08:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:08:37 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:08:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107530m [env.py: 870] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27650572 -0.92014826 -0.10752953] yaw=-40.1deg [env.py: 1019] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27861155 -1.02212583 -0.10752953] yaw=-45.5deg [env.py: 1019] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.3ms [env.py: 1075] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -0.920, -0.108) [env.py: 1079] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/11 23:08:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:37 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101649m [env.py: 870] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.2ms, total=197.2ms [env.py: 1105] +05/11 23:08:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:08:38 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:08:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.413s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:08:39 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:08:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166084m [env.py: 870] +05/11 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23670811 -0.97572674 -0.16608363] yaw=-45.5deg [env.py: 1019] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55765963 -0.73462355 -0.16608363] yaw=-71.4deg [env.py: 1019] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.1ms, total=201.1ms [env.py: 1075] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -0.976, -0.166) [env.py: 1079] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:40 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143037m [env.py: 870] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16179653 -1.0647474 -0.14303656] yaw=-45.2deg [env.py: 1019] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=199.1ms, total=199.1ms [env.py: 1075] +05/11 23:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -1.065, -0.143) [env.py: 1079] +05/11 23:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg [env.py: 1082] +05/11 23:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/11 23:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:41 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:08:41 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:08:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.734s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:08:43 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:08:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156023m [env.py: 870] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28976143 -1.19425213 -0.15602266] yaw=-43.9deg [env.py: 1019] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.8ms, total=196.8ms [env.py: 1075] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.290, -1.194, -0.156) [env.py: 1079] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg [env.py: 1082] +05/11 23:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:43 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156752m [env.py: 870] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.8ms, total=197.9ms [env.py: 1105] +05/11 23:08:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:08:44 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:08:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177579m [env.py: 870] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.9ms, total=202.9ms [env.py: 1105] +05/11 23:08:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:08:46 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:08:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.081s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:46 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.679[m] 80.842[deg] [grasp_sample.py: 539] +05/11 23:08:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:08:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:08:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138815m [env.py: 870] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.550132 -0.91286741 -0.13881505] yaw=-54.9deg [env.py: 1019] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17913671 -1.13309185 -0.13881505] yaw=-48.0deg [env.py: 1019] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.3ms [env.py: 1075] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.913, -0.139) [env.py: 1079] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/11 23:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:48 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.479s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.712[m] 87.190[deg] [grasp_sample.py: 539] +05/11 23:08:50 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:08:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:08:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:08:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:08:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199842m [env.py: 870] +05/11 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39056452 -1.12541752 -0.19984155] yaw=-57.8deg [env.py: 1019] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.67592184 -0.96930248 -0.19984155] yaw=-58.9deg [env.py: 1019] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:08:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.7ms [env.py: 1075] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -1.125, -0.200) [env.py: 1079] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/11 23:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/11 23:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:08:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:08:52 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/11 23:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:08:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:08:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:08:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.256s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:08:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.604[m] 90.731[deg] [grasp_sample.py: 539] +05/11 23:08:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:08:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:08:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:08:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:09:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:09:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:09:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:09:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:09:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:09:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.454[m] 60.652[deg] [grasp_sample.py: 539] +05/11 23:09:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:09:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:09:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:09:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:09:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:09:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:09:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:09:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:09:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:09:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:10:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:10:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:10:40 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:10:42 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:10:57 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:10:57 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:10:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:10:57 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/11 23:11:01 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:11:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:11:01 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/11 23:11:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:11:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:11:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.12s (batch: 3.37s, save: 8.75s) [pipeline.py: 300] +05/11 23:11:10 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=2.92s: + episode_total: mean=15.55s, total=155.47s, count=10, min=205.6ms, max=138753.8ms + sensor_polling: mean=309.4ms, total=84.47s, count=273, min=295.2ms, max=472.5ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8754.1ms, max=8754.1ms + physics_step: mean=20.4ms, total=5.57s, count=273, min=13.5ms, max=23.0ms + task_specific_sample: mean=356.2ms, total=3.56s, count=10, min=202.6ms, max=429.3ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3367.5ms, max=3367.5ms + task_sampling: mean=417.7ms, total=2.92s, count=7, min=409.0ms, max=431.7ms + task_sampling_failed: mean=222.0ms, total=665.9ms, count=3, min=205.6ms, max=249.4ms + scene_randomize: mean=1.1ms, total=10.8ms, count=10, min=1.0ms, max=1.6ms + mj_forward_sync: mean=407.9us, total=4.1ms, count=10, min=0.4ms, max=0.5ms + policy_setup: mean=11.2us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:11:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117702m [env.py: 870] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29366166 -1.1641043 -0.11770184] yaw=-45.5deg [env.py: 1019] +05/11 23:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.7ms, total=233.7ms [env.py: 1075] +05/11 23:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -1.164, -0.118) [env.py: 1079] +05/11 23:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/11 23:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 23:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:12 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:11:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:11:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.26s (batch: 3.32s, save: 8.94s) [pipeline.py: 300] +05/11 23:11:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.745s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.691[m] 86.532[deg] [grasp_sample.py: 539] +05/11 23:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:11:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:11:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:11:14 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/11 23:11:14 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.84s: + episode_total: mean=56.08s, total=168.25s, count=3, min=165.8ms, max=165667.9ms + sensor_polling: mean=404.9ms, total=113.38s, count=280, min=308.1ms, max=567.8ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8942.9ms, max=8942.9ms + physics_step: mean=27.1ms, total=7.59s, count=280, min=14.5ms, max=82.5ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3319.6ms, max=3319.6ms + task_specific_sample: mean=333.3ms, total=999.8ms, count=3, min=162.7ms, max=464.0ms + task_sampling: mean=421.3ms, total=842.6ms, count=2, min=375.1ms, max=467.5ms + task_sampling_failed: mean=165.8ms, total=165.8ms, count=1, min=165.8ms, max=165.8ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=0.9ms, max=2.3ms + mj_forward_sync: mean=372.9us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:11:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:11:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:11:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197153m [env.py: 870] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20622087 -1.02166412 -0.19715342] yaw=-43.0deg [env.py: 1019] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.8ms [env.py: 1075] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.022, -0.197) [env.py: 1079] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/11 23:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:16 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.499s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:23 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.695[m] 78.957[deg] [grasp_sample.py: 539] +05/11 23:11:24 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198040m [env.py: 870] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.0ms, total=163.1ms [env.py: 1105] +05/11 23:11:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:11:25 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:11:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:11:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:11:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.85s (batch: 3.23s, save: 8.62s) [pipeline.py: 300] +05/11 23:11:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194271m [env.py: 870] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29771204 -0.86498044 -0.19427064] yaw=-44.3deg [env.py: 1019] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.6592614 -0.90752173 -0.19427064] yaw=-81.9deg [env.py: 1019] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:26 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=1.25s: + episode_total: mean=34.37s, total=171.87s, count=5, min=209.3ms, max=163606.0ms + sensor_polling: mean=447.0ms, total=121.15s, count=271, min=319.2ms, max=631.4ms + save_trajectories: mean=8.62s, total=8.62s, count=1, min=8623.4ms, max=8623.4ms + physics_step: mean=25.6ms, total=6.94s, count=271, min=18.9ms, max=56.9ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3225.7ms, max=3225.7ms + task_specific_sample: mean=330.3ms, total=1.65s, count=5, min=204.3ms, max=428.1ms + task_sampling: mean=416.2ms, total=1.25s, count=3, min=398.8ms, max=430.4ms + task_sampling_failed: mean=209.5ms, total=419.1ms, count=2, min=209.2ms, max=209.8ms + scene_randomize: mean=1.1ms, total=5.7ms, count=5, min=1.0ms, max=1.5ms + mj_forward_sync: mean=423.5us, total=2.1ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35490197 -0.84112637 -0.19427064] yaw=-67.3deg [env.py: 1019] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.5ms [env.py: 1075] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.865, -0.194) [env.py: 1079] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg [env.py: 1082] +05/11 23:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:27 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179506m [env.py: 870] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=217.9ms, total=217.9ms [env.py: 1105] +05/11 23:11:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:11:28 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:11:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.024s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:11:29 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:11:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122186m [env.py: 870] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.5ms, total=220.6ms [env.py: 1105] +05/11 23:11:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:11:29 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:11:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100419m [env.py: 870] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.7ms, total=163.7ms [env.py: 1105] +05/11 23:11:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:11:30 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:11:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100587m [env.py: 870] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55897012 -0.88550602 -0.10058659] yaw=-71.7deg [env.py: 1019] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.9ms, total=168.9ms [env.py: 1075] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.886, -0.101) [env.py: 1079] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.7 deg [env.py: 1082] +05/11 23:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:31 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158996m [env.py: 870] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15068611 -1.05643 -0.15899567] yaw=-45.7deg [env.py: 1019] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36062182 -1.15917783 -0.15899567] yaw=-48.4deg [env.py: 1019] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.2ms [env.py: 1075] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.151, -1.056, -0.159) [env.py: 1079] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/11 23:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:32 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.745[m] 87.859[deg] [grasp_sample.py: 539] +05/11 23:11:34 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:11:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.894s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:11:34 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147931m [env.py: 870] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.1ms, total=163.1ms [env.py: 1105] +05/11 23:11:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:11:35 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153545m [env.py: 870] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.9ms, total=203.9ms [env.py: 1105] +05/11 23:11:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:11:36 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:11:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152681m [env.py: 870] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=161.0ms, total=161.1ms [env.py: 1105] +05/11 23:11:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:11:37 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:11:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145907m [env.py: 870] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42673427 -0.85448231 -0.14590745] yaw=-69.0deg [env.py: 1019] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.6ms [env.py: 1075] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -0.854, -0.146) [env.py: 1079] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.0 deg [env.py: 1082] +05/11 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:37 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126640m [env.py: 870] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20797349 -1.0784685 -0.12664034] yaw=-48.9deg [env.py: 1019] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41090086 -1.01666222 -0.12664034] yaw=-45.8deg [env.py: 1019] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51769005 -0.95565296 -0.12664034] yaw=-71.8deg [env.py: 1019] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.5ms, total=173.6ms [env.py: 1075] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.078, -0.127) [env.py: 1079] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/11 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:38 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.877s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:44 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.770[m] 78.082[deg] [grasp_sample.py: 539] +05/11 23:11:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.318s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:45 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.792[m] 100.236[deg] [grasp_sample.py: 539] +05/11 23:11:45 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:11:46 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:11:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107365m [env.py: 870] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131617m [env.py: 870] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53174868 -0.9608271 -0.13161738] yaw=-60.2deg [env.py: 1019] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.4ms, total=229.5ms [env.py: 1075] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.532, -0.961, -0.132) [env.py: 1079] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3923391 -1.0708636 -0.10736513] yaw=-60.5deg [env.py: 1019] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=612.0ms, total=612.0ms [env.py: 1075] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.071, -0.107) [env.py: 1079] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.5 deg [env.py: 1082] +05/11 23:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:47 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:48 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.720s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.690[m] 84.174[deg] [grasp_sample.py: 539] +05/11 23:11:51 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:11:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.635s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:51 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.712[m] 93.515[deg] [grasp_sample.py: 539] +05/11 23:11:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:11:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:11:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:11:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:11:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100072m [env.py: 870] +05/11 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19017404 -1.09598107 -0.10007242] yaw=-36.9deg [env.py: 1019] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.0ms, total=269.0ms [env.py: 1075] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.190, -1.096, -0.100) [env.py: 1079] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg [env.py: 1082] +05/11 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/11 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:53 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:11:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.514s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:11:56 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 23:11:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:11:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:11:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:11:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:11:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:11:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111543m [env.py: 870] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:11:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5827651 -0.79038634 -0.11154283] yaw=-57.8deg [env.py: 1019] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:11:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.9ms, total=195.0ms [env.py: 1075] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.790, -0.112) [env.py: 1079] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/11 23:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:11:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:11:57 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/11 23:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:11:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:11:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:12:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.623s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:12:01 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 23:12:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:12:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:12:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:12:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:12:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:12:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:12:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136996m [env.py: 870] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:12:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=187.5ms, total=187.6ms [env.py: 1105] +05/11 23:12:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:12:02 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:12:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:12:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:12:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:12:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:12:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:12:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:12:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195116m [env.py: 870] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:12:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57713129 -0.85876344 -0.19511642] yaw=-58.0deg [env.py: 1019] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:12:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1075] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.859, -0.195) [env.py: 1079] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/11 23:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:12:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:12:04 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/11 23:12:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:12:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:12:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:12:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:12:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:12:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.332s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:12:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.725[m] 83.656[deg] [grasp_sample.py: 539] +05/11 23:12:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:12:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:12:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:12:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:12:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:12:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:12:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:12:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:12:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:12:54 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:12:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:13:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:13:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:13:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:13:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:13:12 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/11 23:13:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.791s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:13:14 INFO: [Worker 0] Feasible grasp found 265 (originally 265): w/ 0.144[m] 12.114[deg] [grasp_sample.py: 539] +05/11 23:13:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:13:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:13:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:13:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:13:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:13:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.38s (batch: 3.29s, save: 8.09s) [pipeline.py: 300] +05/11 23:13:24 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.54s: + episode_total: mean=132.25s, total=132.25s, count=1, min=132251.2ms, max=132251.2ms + sensor_polling: mean=340.6ms, total=92.64s, count=272, min=297.7ms, max=835.0ms + save_trajectories: mean=8.09s, total=8.09s, count=1, min=8092.4ms, max=8092.4ms + physics_step: mean=21.5ms, total=5.85s, count=272, min=14.7ms, max=55.8ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3292.0ms, max=3292.0ms + task_sampling: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms + task_specific_sample: mean=534.4ms, total=534.4ms, count=1, min=534.4ms, max=534.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=443.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:13:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:13:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:13:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:13:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:13:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:13:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129614m [env.py: 870] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:13:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54910268 -0.84000472 -0.1296138 ] yaw=-55.7deg [env.py: 1019] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52828649 -0.89421409 -0.1296138 ] yaw=-72.6deg [env.py: 1019] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:13:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.7ms, total=186.7ms [env.py: 1075] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.840, -0.130) [env.py: 1079] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/11 23:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:13:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:13:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:13:25 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/11 23:13:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 23:13:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:13:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:13:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:13:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:13:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:13:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:13:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 473 non-colliding grasps [grasp_sample.py: 465] +05/11 23:13:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.166s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:13:32 INFO: [Worker 0] Feasible grasp found 24 (originally 24): w/ 0.081[m] 8.138[deg] [grasp_sample.py: 539] +05/11 23:13:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:13:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:13:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.853s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:13:35 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.746[m] 93.361[deg] [grasp_sample.py: 539] +05/11 23:13:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:13:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:13:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:13:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:13:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:39 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:13:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:13:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:13:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:13:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:13:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.586s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:13:43 INFO: [Worker 0] Feasible grasp found 170 (originally 170): w/ 0.143[m] 10.686[deg] [grasp_sample.py: 539] +05/11 23:13:44 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:13:45 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:13:45 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:13:45 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/11 23:13:45 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=4089.45s + House averages: + episode_total: mean=32.50s, total=2339.72s, count=72, min=165.8ms, max=171794.0ms + sensor_polling: mean=360.7ms, total=1431.96s, count=3970, min=290.2ms, max=721.3ms + save_trajectories: mean=9.15s, total=109.81s, count=12, min=8594.5ms, max=10335.3ms + physics_step: mean=23.3ms, total=92.35s, count=3970, min=12.9ms, max=106.9ms + save_batch_prep: mean=3.37s, total=40.45s, count=12, min=2741.8ms, max=4167.0ms + task_specific_sample: mean=409.5ms, total=29.48s, count=72, min=162.7ms, max=1008.6ms + task_sampling: mean=480.3ms, total=23.53s, count=49, min=331.2ms, max=1011.2ms + task_sampling_failed: mean=470.0ms, total=10.81s, count=23, min=165.8ms, max=5061.6ms + scene_load: mean=4.64s, total=4.64s, count=1, min=4637.8ms, max=4637.8ms + scene_env_create: mean=2.66s, total=2.66s, count=1, min=2658.9ms, max=2658.9ms + scene_compile: mean=1.83s, total=1.83s, count=1, min=1829.3ms, max=1829.3ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1289.2ms, max=1289.2ms + compile_xml_load: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms + scene_randomize: mean=1.4ms, total=101.6ms, count=72, min=0.9ms, max=4.3ms + scene_init: mean=95.8ms, total=95.8ms, count=1, min=95.8ms, max=95.8ms + scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_objects: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + mj_forward_sync: mean=454.5us, total=32.7ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms + asset_install_objects: mean=12.5ms, total=12.5ms, count=1, min=12.5ms, max=12.5ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.5us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 23:13:45 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 23:13:45 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4089.45s + Worker averages: + episode_total: mean=32.50s, total=2339.72s, count=72, min=165.8ms, max=171794.0ms + sensor_polling: mean=360.7ms, total=1431.96s, count=3970, min=290.2ms, max=721.3ms + save_trajectories: mean=9.15s, total=109.81s, count=12, min=8594.5ms, max=10335.3ms + physics_step: mean=23.3ms, total=92.35s, count=3970, min=12.9ms, max=106.9ms + save_batch_prep: mean=3.37s, total=40.45s, count=12, min=2741.8ms, max=4167.0ms + task_specific_sample: mean=409.5ms, total=29.48s, count=72, min=162.7ms, max=1008.6ms + task_sampling: mean=480.3ms, total=23.53s, count=49, min=331.2ms, max=1011.2ms + task_sampling_failed: mean=470.0ms, total=10.81s, count=23, min=165.8ms, max=5061.6ms + scene_load: mean=4.64s, total=4.64s, count=1, min=4637.8ms, max=4637.8ms + scene_env_create: mean=2.66s, total=2.66s, count=1, min=2658.9ms, max=2658.9ms + scene_compile: mean=1.83s, total=1.83s, count=1, min=1829.3ms, max=1829.3ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1289.2ms, max=1289.2ms + compile_xml_load: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms + scene_randomize: mean=1.4ms, total=101.6ms, count=72, min=0.9ms, max=4.3ms + scene_init: mean=95.8ms, total=95.8ms, count=1, min=95.8ms, max=95.8ms + scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_objects: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + mj_forward_sync: mean=454.5us, total=32.7ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=31.0ms, total=31.0ms, count=1, min=31.0ms, max=31.0ms + asset_install_objects: mean=12.5ms, total=12.5ms, count=1, min=12.5ms, max=12.5ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.5us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 23:13:48 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 23:13:48 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/11 23:13:48 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/11 23:13:56 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:13:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:13:56 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/11 23:14:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:14:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:14:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.57s (batch: 3.00s, save: 8.57s) [pipeline.py: 300] +05/11 23:14:09 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=1.61s: + episode_total: mean=21.90s, total=153.28s, count=7, min=168.1ms, max=141831.0ms + sensor_polling: mean=360.3ms, total=99.45s, count=276, min=298.3ms, max=541.6ms + save_trajectories: mean=8.57s, total=8.57s, count=1, min=8568.6ms, max=8568.6ms + physics_step: mean=21.5ms, total=5.93s, count=276, min=14.5ms, max=71.0ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3001.8ms, max=3001.8ms + task_specific_sample: mean=341.5ms, total=2.39s, count=7, min=165.7ms, max=826.7ms + task_sampling: mean=538.2ms, total=1.61s, count=3, min=385.4ms, max=828.8ms + task_sampling_failed: mean=198.6ms, total=794.6ms, count=4, min=168.1ms, max=228.4ms + scene_randomize: mean=1.1ms, total=7.8ms, count=7, min=0.9ms, max=1.8ms + mj_forward_sync: mean=395.3us, total=2.8ms, count=7, min=0.3ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:14:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:14:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:14:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:14:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:14:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:14:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:14:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176777m [env.py: 870] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:14:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.0ms, total=166.0ms [env.py: 1105] +05/11 23:14:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:14:10 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:14:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:14:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:14:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:14:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:14:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:14:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:14:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:14:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:14:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:14:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:14:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168340m [env.py: 870] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:14:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:14:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=629.4ms, total=629.4ms [env.py: 1105] +05/11 23:14:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:14:12 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:14:13 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:14:13 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:14:13 INFO: [Worker 0] Worker 0 completed house 1: 9/13 successful episodes [pipeline.py: 1323] +05/11 23:14:13 INFO: [Worker 0] [PROFILE] House 1 complete: 9/13 successful, 13 episodes, total_time=4088.12s + House averages: + episode_total: mean=32.86s, total=2365.96s, count=72, min=168.1ms, max=175449.6ms + sensor_polling: mean=390.1ms, total=1453.96s, count=3727, min=298.3ms, max=774.5ms + physics_step: mean=23.3ms, total=86.82s, count=3727, min=12.8ms, max=101.7ms + save_trajectories: mean=8.80s, total=79.24s, count=9, min=8064.0ms, max=9379.5ms + task_specific_sample: mean=401.1ms, total=28.88s, count=72, min=165.7ms, max=869.3ms + save_batch_prep: mean=3.12s, total=28.09s, count=9, min=2438.5ms, max=3526.7ms + task_sampling: mean=488.2ms, total=20.99s, count=43, min=366.9ms, max=841.7ms + task_sampling_failed: mean=442.8ms, total=12.84s, count=29, min=168.1ms, max=5126.3ms + scene_load: mean=4.71s, total=4.71s, count=1, min=4705.4ms, max=4705.4ms + scene_env_create: mean=2.79s, total=2.79s, count=1, min=2794.4ms, max=2794.4ms + scene_compile: mean=1.71s, total=1.71s, count=1, min=1712.8ms, max=1712.8ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1286.4ms, max=1286.4ms + compile_xml_load: mean=338.4ms, total=338.4ms, count=1, min=338.4ms, max=338.4ms + scene_init: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms + scene_randomize: mean=1.4ms, total=98.4ms, count=72, min=0.9ms, max=6.2ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + scene_asset_install: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms + mj_forward_sync: mean=427.9us, total=30.8ms, count=72, min=0.3ms, max=0.6ms + compile_robot_add: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=15.0us, total=0.6ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 23:14:13 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 23:14:13 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4088.12s + Worker averages: + episode_total: mean=32.86s, total=2365.96s, count=72, min=168.1ms, max=175449.6ms + sensor_polling: mean=390.1ms, total=1453.96s, count=3727, min=298.3ms, max=774.5ms + physics_step: mean=23.3ms, total=86.82s, count=3727, min=12.8ms, max=101.7ms + save_trajectories: mean=8.80s, total=79.24s, count=9, min=8064.0ms, max=9379.5ms + task_specific_sample: mean=401.1ms, total=28.88s, count=72, min=165.7ms, max=869.3ms + save_batch_prep: mean=3.12s, total=28.09s, count=9, min=2438.5ms, max=3526.7ms + task_sampling: mean=488.2ms, total=20.99s, count=43, min=366.9ms, max=841.7ms + task_sampling_failed: mean=442.8ms, total=12.84s, count=29, min=168.1ms, max=5126.3ms + scene_load: mean=4.71s, total=4.71s, count=1, min=4705.4ms, max=4705.4ms + scene_env_create: mean=2.79s, total=2.79s, count=1, min=2794.4ms, max=2794.4ms + scene_compile: mean=1.71s, total=1.71s, count=1, min=1712.8ms, max=1712.8ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1286.4ms, max=1286.4ms + compile_xml_load: mean=338.4ms, total=338.4ms, count=1, min=338.4ms, max=338.4ms + scene_init: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms + scene_randomize: mean=1.4ms, total=98.4ms, count=72, min=0.9ms, max=6.2ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + scene_asset_install: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms + mj_forward_sync: mean=427.9us, total=30.8ms, count=72, min=0.3ms, max=0.6ms + compile_robot_add: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=15.0us, total=0.6ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 23:14:15 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 23:14:15 INFO: Success count: 9, Total count: 13 [pipeline.py: 1491] +05/11 23:14:15 INFO: Success rate: 69.23% [pipeline.py: 1492] +05/11 23:14:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:14:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:14:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:14:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:14:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:14:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:14:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:14:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 349 non-colliding grasps [grasp_sample.py: 465] +05/11 23:16:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 90.521s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:16:17 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 23:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:16:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:16:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:16:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192336m [env.py: 870] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56087903 -0.81424581 -0.19233571] yaw=-67.6deg [env.py: 1019] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:16:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=827.0ms, total=827.1ms [env.py: 1075] +05/11 23:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.814, -0.192) [env.py: 1079] +05/11 23:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg [env.py: 1082] +05/11 23:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/11 23:16:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:16:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:16:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:16:19 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/11 23:16:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 23:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:16:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:16:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:16:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.305s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:16:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.740[m] 87.898[deg] [grasp_sample.py: 539] +05/11 23:16:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:16:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:16:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:17:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:17:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:17:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:17:57 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:18:17 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:18:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:18:17 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/11 23:18:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:18:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:18:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.78s (batch: 3.23s, save: 8.54s) [pipeline.py: 300] +05/11 23:18:30 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=1.46s: + episode_total: mean=151.73s, total=303.46s, count=2, min=131616.5ms, max=171842.2ms + sensor_polling: mean=309.9ms, total=142.26s, count=459, min=288.5ms, max=522.6ms + physics_step: mean=19.8ms, total=9.10s, count=459, min=14.1ms, max=31.6ms + save_trajectories: mean=8.54s, total=8.54s, count=1, min=8544.7ms, max=8544.7ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3231.3ms, max=3231.3ms + task_sampling: mean=728.1ms, total=1.46s, count=2, min=406.0ms, max=1050.3ms + task_specific_sample: mean=725.0ms, total=1.45s, count=2, min=403.2ms, max=1046.8ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.6ms, max=1.7ms + mj_forward_sync: mean=415.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:18:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110086m [env.py: 870] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=338.8ms, total=338.8ms [env.py: 1105] +05/11 23:18:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:18:31 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111620m [env.py: 870] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=330.9ms, total=330.9ms [env.py: 1105] +05/11 23:18:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:18:33 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:18:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167957m [env.py: 870] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.7ms, total=195.7ms [env.py: 1105] +05/11 23:18:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166994m [env.py: 870] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54118529 -1.02666172 -0.16699408] yaw=-58.0deg [env.py: 1019] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:18:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=200.9ms [env.py: 1075] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -1.027, -0.167) [env.py: 1079] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/11 23:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:18:36 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/11 23:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 23:18:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:18:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:18:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:18:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.892s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:18:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.638[m] 84.070[deg] [grasp_sample.py: 539] +05/11 23:18:39 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:18:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193191m [env.py: 870] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.4ms, total=190.5ms [env.py: 1105] +05/11 23:18:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:18:40 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:18:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146538m [env.py: 870] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15962683 -1.02541906 -0.1465379 ] yaw=-44.9deg [env.py: 1019] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:18:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.1ms, total=198.2ms [env.py: 1075] +05/11 23:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.025, -0.147) [env.py: 1079] +05/11 23:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/11 23:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/11 23:18:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:18:42 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/11 23:18:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 23:18:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:18:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:18:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:18:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.041s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:18:44 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:18:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147874m [env.py: 870] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=252.6ms, total=252.6ms [env.py: 1105] +05/11 23:18:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:18:45 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:18:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:18:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:18:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:18:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:18:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:18:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146687m [env.py: 870] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:18:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2575886 -1.12480666 -0.14668726] yaw=-32.9deg [env.py: 1019] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:18:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.9ms, total=231.0ms [env.py: 1075] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -1.125, -0.147) [env.py: 1079] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.9 deg [env.py: 1082] +05/11 23:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:18:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:18:47 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/11 23:18:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 23:18:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:18:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:18:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:18:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.223s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:18:53 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.699[m] 81.873[deg] [grasp_sample.py: 539] +05/11 23:18:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:18:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:18:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:18:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:19:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:19:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:19:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:20:26 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:20:44 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:20:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:20:44 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/11 23:20:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:20:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:20:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.34s (batch: 2.88s, save: 8.46s) [pipeline.py: 300] +05/11 23:20:56 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=1.27s: + episode_total: mean=17.17s, total=137.39s, count=8, min=198.0ms, max=129894.3ms + sensor_polling: mean=307.8ms, total=84.96s, count=276, min=291.0ms, max=530.2ms + save_trajectories: mean=8.46s, total=8.46s, count=1, min=8462.7ms, max=8462.7ms + physics_step: mean=19.9ms, total=5.50s, count=276, min=14.1ms, max=21.7ms + save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2882.2ms, max=2882.2ms + task_specific_sample: mean=325.0ms, total=2.60s, count=8, min=195.1ms, max=438.1ms + task_sampling_failed: mean=270.8ms, total=1.35s, count=5, min=198.0ms, max=353.4ms + task_sampling: mean=424.6ms, total=1.27s, count=3, min=398.3ms, max=440.1ms + scene_randomize: mean=1.2ms, total=9.5ms, count=8, min=1.0ms, max=2.6ms + mj_forward_sync: mean=397.8us, total=3.2ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=11.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:20:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:20:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:20:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:20:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:20:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:20:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:20:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170070m [env.py: 870] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:20:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42999872 -0.77024845 -0.17007026] yaw=-58.1deg [env.py: 1019] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:20:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=329.9ms, total=329.9ms [env.py: 1075] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.770, -0.170) [env.py: 1079] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/11 23:20:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:20:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:20:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:20:58 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/11 23:20:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 23:20:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:20:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:20:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:21:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.010s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:21:00 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:21:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:21:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:21:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:21:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:21:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:21:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172754m [env.py: 870] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:21:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62402289 -0.86603296 -0.17275429] yaw=-80.4deg [env.py: 1019] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:21:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.6ms, total=230.6ms [env.py: 1075] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.866, -0.173) [env.py: 1079] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.4 deg [env.py: 1082] +05/11 23:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:21:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:21:02 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/11 23:21:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 23:21:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:21:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:21:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:21:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.063s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:21:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.726[m] 92.557[deg] [grasp_sample.py: 539] +05/11 23:21:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:21:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:21:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:21:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:21:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:21:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:22:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:22:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:22:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:22:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:22:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:22:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 400 non-colliding grasps [grasp_sample.py: 465] +05/11 23:22:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.047s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:22:14 INFO: [Worker 0] Feasible grasp found 533 (originally 533): w/ 0.046[m] 6.650[deg] [grasp_sample.py: 539] +05/11 23:22:15 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:22:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:22:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:22:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:22:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:22:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189453m [env.py: 870] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29316206 -0.91233074 -0.1894527 ] yaw=-42.8deg [env.py: 1019] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.4ms, total=235.4ms [env.py: 1075] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.912, -0.189) [env.py: 1079] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/11 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:22:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:22:17 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/11 23:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 23:22:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:22:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:22:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:22:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.063s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:22:20 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 23:22:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:22:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:22:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:22:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:22:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:22:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:22:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:22:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:22:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:22:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:22:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137361m [env.py: 870] +05/11 23:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:22:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30815178 -1.14893849 -0.13736071] yaw=-44.0deg [env.py: 1019] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:22:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.2ms, total=229.3ms [env.py: 1075] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.149, -0.137) [env.py: 1079] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg [env.py: 1082] +05/11 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:22:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:22:22 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/11 23:22:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 23:22:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:22:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:22:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:22:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.081s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:22:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.662[m] 90.123[deg] [grasp_sample.py: 539] +05/11 23:22:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:22:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:22:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:22:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:23:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:23:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:23:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:23:51 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:24:10 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:24:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:24:10 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/11 23:24:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:24:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:24:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 11.39s (batch: 3.05s, save: 8.34s) [pipeline.py: 300] +05/11 23:24:22 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.92s: + episode_total: mean=50.16s, total=200.66s, count=4, min=2782.8ms, max=120364.8ms + sensor_polling: mean=303.7ms, total=129.99s, count=428, min=284.2ms, max=525.9ms + physics_step: mean=19.6ms, total=8.39s, count=428, min=14.0ms, max=22.7ms + save_trajectories: mean=8.34s, total=8.34s, count=1, min=8340.4ms, max=8340.4ms + save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3048.1ms, max=3048.1ms + task_sampling: mean=479.0ms, total=1.92s, count=4, min=445.5ms, max=577.8ms + task_specific_sample: mean=476.1ms, total=1.90s, count=4, min=442.4ms, max=574.1ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.0ms, max=2.5ms + mj_forward_sync: mean=402.5us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=11.8us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:24:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:24:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:24:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:24:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:24:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:24:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:24:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169465m [env.py: 870] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:24:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53890318 -1.03605242 -0.1694655 ] yaw=-49.1deg [env.py: 1019] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:24:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms [env.py: 1075] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.539, -1.036, -0.169) [env.py: 1079] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/11 23:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:24:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:24:23 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/11 23:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 23:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:24:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:24:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:24:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:24:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.624[m] 82.839[deg] [grasp_sample.py: 539] +05/11 23:24:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:24:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:24:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:25:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:27 INFO: [Worker 0] Object is not in grasp! 0.00142 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:25:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:25:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:25:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:25:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/11 23:25:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.399s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:25:27 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.482[deg] [grasp_sample.py: 539] +05/11 23:25:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:25:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:25:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:25:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:25:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:25:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:25:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:25:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/11 23:25:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.427s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:25:44 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.516[deg] [grasp_sample.py: 539] +05/11 23:25:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:25:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:25:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:25:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:25:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:26:08 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:26:29 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_003 [pipeline.py: 1174] +05/11 23:26:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:26:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 23:26:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:26:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_003 [save_utils.py: 785] +05/11 23:26:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.71s (batch: 3.31s, save: 9.40s) [pipeline.py: 300] +05/11 23:26:43 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.44s: + episode_total: mean=139.80s, total=139.80s, count=1, min=139798.0ms, max=139798.0ms + sensor_polling: mean=305.5ms, total=91.66s, count=300, min=287.4ms, max=534.2ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9398.0ms, max=9398.0ms + physics_step: mean=20.2ms, total=6.05s, count=300, min=14.1ms, max=29.4ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3307.3ms, max=3307.3ms + task_sampling: mean=444.8ms, total=444.8ms, count=1, min=444.8ms, max=444.8ms + task_specific_sample: mean=441.4ms, total=441.4ms, count=1, min=441.4ms, max=441.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=408.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:26:44 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:26:44 WARNING: [Worker 0] No trajectory data to save for chunk_003 [pipeline.py: 234] +05/11 23:26:44 INFO: [Worker 0] Worker 0 completed house 1: 15/19 successful episodes [pipeline.py: 1323] +05/11 23:26:44 INFO: [Worker 0] [PROFILE] House 1 complete: 15/19 successful, 19 episodes, total_time=5370.31s + House averages: + episode_total: mean=43.32s, total=3119.18s, count=72, min=198.0ms, max=171842.2ms + sensor_polling: mean=338.8ms, total=1866.06s, count=5508, min=269.1ms, max=835.0ms + save_trajectories: mean=9.00s, total=134.94s, count=15, min=8092.4ms, max=10086.3ms + physics_step: mean=21.8ms, total=120.28s, count=5508, min=13.1ms, max=176.3ms + save_batch_prep: mean=3.37s, total=50.56s, count=15, min=2754.0ms, max=3953.3ms + task_specific_sample: mean=428.4ms, total=30.85s, count=72, min=195.1ms, max=1046.8ms + task_sampling: mean=502.7ms, total=25.13s, count=50, min=362.5ms, max=1050.3ms + task_sampling_failed: mean=499.0ms, total=10.98s, count=22, min=198.0ms, max=5539.0ms + scene_load: mean=5.04s, total=5.04s, count=1, min=5038.1ms, max=5038.1ms + scene_env_create: mean=2.79s, total=2.79s, count=1, min=2788.0ms, max=2788.0ms + scene_compile: mean=2.02s, total=2.02s, count=1, min=2016.3ms, max=2016.3ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1292.6ms, max=1292.6ms + compile_xml_load: mean=635.0ms, total=635.0ms, count=1, min=635.0ms, max=635.0ms + scene_init: mean=156.3ms, total=156.3ms, count=1, min=156.3ms, max=156.3ms + scene_randomize: mean=1.4ms, total=99.0ms, count=72, min=0.9ms, max=3.2ms + scene_asset_install: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms + asset_install_grasps: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + mj_forward_sync: mean=443.5us, total=31.9ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=12.6us, total=0.6ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 23:26:44 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 23:26:44 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 19 episodes, total_time=5370.31s + Worker averages: + episode_total: mean=43.32s, total=3119.18s, count=72, min=198.0ms, max=171842.2ms + sensor_polling: mean=338.8ms, total=1866.06s, count=5508, min=269.1ms, max=835.0ms + save_trajectories: mean=9.00s, total=134.94s, count=15, min=8092.4ms, max=10086.3ms + physics_step: mean=21.8ms, total=120.28s, count=5508, min=13.1ms, max=176.3ms + save_batch_prep: mean=3.37s, total=50.56s, count=15, min=2754.0ms, max=3953.3ms + task_specific_sample: mean=428.4ms, total=30.85s, count=72, min=195.1ms, max=1046.8ms + task_sampling: mean=502.7ms, total=25.13s, count=50, min=362.5ms, max=1050.3ms + task_sampling_failed: mean=499.0ms, total=10.98s, count=22, min=198.0ms, max=5539.0ms + scene_load: mean=5.04s, total=5.04s, count=1, min=5038.1ms, max=5038.1ms + scene_env_create: mean=2.79s, total=2.79s, count=1, min=2788.0ms, max=2788.0ms + scene_compile: mean=2.02s, total=2.02s, count=1, min=2016.3ms, max=2016.3ms + compile_mujoco: mean=1.29s, total=1.29s, count=1, min=1292.6ms, max=1292.6ms + compile_xml_load: mean=635.0ms, total=635.0ms, count=1, min=635.0ms, max=635.0ms + scene_init: mean=156.3ms, total=156.3ms, count=1, min=156.3ms, max=156.3ms + scene_randomize: mean=1.4ms, total=99.0ms, count=72, min=0.9ms, max=3.2ms + scene_asset_install: mean=77.2ms, total=77.2ms, count=1, min=77.2ms, max=77.2ms + asset_install_grasps: mean=59.7ms, total=59.7ms, count=1, min=59.7ms, max=59.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + mj_forward_sync: mean=443.5us, total=31.9ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=12.6us, total=0.6ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 23:26:46 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 23:26:46 INFO: Success count: 15, Total count: 19 [pipeline.py: 1491] +05/11 23:26:46 INFO: Success rate: 78.95% [pipeline.py: 1492] diff --git 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a/3drawers/sim_chunks/chunk_004/running_log.log b/3drawers/sim_chunks/chunk_004/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..3af158f6629635807d828069a9b358259abcd79a --- /dev/null +++ b/3drawers/sim_chunks/chunk_004/running_log.log @@ -0,0 +1,15410 @@ +05/11 23:28:03 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 23:28:03 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 23:28:03 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 23:28:03 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_004'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40401, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 23:28:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 23:28:03 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 23:28:03 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 23:28:03 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 23:28:03 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 23:28:03 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 23:28:03 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_004'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40404, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 23:28:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 23:28:03 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 23:28:03 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 23:28:04 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 23:28:04 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 23:28:05 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 23:28:05 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 23:28:05 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 23:28:05 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_004'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40403, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 23:28:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 23:28:05 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 23:28:05 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 23:28:05 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 23:28:05 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 23:28:05 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 23:28:05 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_004'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40402, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 23:28:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 23:28:05 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 23:28:05 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 23:28:05 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 23:28:05 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 23:28:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 23:28:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 23:28:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 23:28:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 23:28:07 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 23:28:07 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 23:28:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177919m [env.py: 870] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 23:28:07 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 23:28:07 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 23:28:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133058m [env.py: 870] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51645688 -0.96331688 -0.17791901] yaw=-59.7deg [env.py: 1019] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.1ms, retries=348.8ms, total=364.9ms [env.py: 1075] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -0.963, -0.178) [env.py: 1079] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 23:28:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35671375 -1.07496496 -0.13305755] yaw=-39.3deg [env.py: 1019] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.2ms, retries=500.8ms, total=517.0ms [env.py: 1075] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.075, -0.133) [env.py: 1079] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/11 23:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:08 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 23:28:08 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 23:28:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149346m [env.py: 870] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:08 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 23:28:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:08 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:08 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31103655 -1.06350891 -0.14934578] yaw=-46.5deg [env.py: 1019] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.4ms, retries=211.7ms, total=228.1ms [env.py: 1075] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.064, -0.149) [env.py: 1079] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:08 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 23:28:08 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 23:28:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:08 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:08 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 23:28:08 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 23:28:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113360m [env.py: 870] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:08 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.0ms, retries=531.1ms, total=547.1ms [env.py: 1105] +05/11 23:28:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:28:09 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:28:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158403m [env.py: 870] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29717285 -1.00435364 -0.15840322] yaw=-39.0deg [env.py: 1019] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=348.7ms, total=348.7ms [env.py: 1075] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.004, -0.158) [env.py: 1079] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg [env.py: 1082] +05/11 23:28:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:10 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:36 INFO: [Worker 0] Warmed up parallel IK solver in 27.916s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:37 INFO: [Worker 0] Warmed up parallel IK solver in 29.027s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.688[m] 88.279[deg] [grasp_sample.py: 539] +05/11 23:28:38 INFO: [Worker 0] Warmed up parallel IK solver in 29.754s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.960s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.643[m] 86.568[deg] [grasp_sample.py: 539] +05/11 23:28:39 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:28:39 INFO: [Worker 0] Warmed up parallel IK solver in 28.569s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:40 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:28:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117622m [env.py: 870] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=186.7ms, total=186.7ms [env.py: 1105] +05/11 23:28:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:28:40 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:28:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123051m [env.py: 870] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49368409 -1.03526484 -0.12305075] yaw=-61.3deg [env.py: 1019] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48550048 -0.75024607 -0.12305075] yaw=-66.7deg [env.py: 1019] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.61929594 -0.85228618 -0.12305075] yaw=-76.8deg [env.py: 1019] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.5ms, total=156.5ms [env.py: 1075] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -1.035, -0.123) [env.py: 1079] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/11 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:42 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117556m [env.py: 870] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=173.0ms, total=173.0ms [env.py: 1105] +05/11 23:28:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:28:42 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:28:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124274m [env.py: 870] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.258s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:43 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.740[m] 86.168[deg] [grasp_sample.py: 539] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=229.8ms, total=229.9ms [env.py: 1105] +05/11 23:28:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:28:43 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:28:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.976s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.673[m] 77.555[deg] [grasp_sample.py: 539] +05/11 23:28:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:28:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:28:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:28:44 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:28:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.526s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:44 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.659[m] 84.230[deg] [grasp_sample.py: 539] +05/11 23:28:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146950m [env.py: 870] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.3ms, total=203.4ms [env.py: 1105] +05/11 23:28:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:28:45 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:28:46 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193701m [env.py: 870] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188221m [env.py: 870] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43267987 -0.83519953 -0.19370091] yaw=-67.6deg [env.py: 1019] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=531.2ms, total=531.2ms [env.py: 1075] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -0.835, -0.194) [env.py: 1079] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg [env.py: 1082] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35698795 -1.02881606 -0.18822122] yaw=-59.6deg [env.py: 1019] +05/11 23:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=490.1ms, total=490.2ms [env.py: 1075] +05/11 23:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.029, -0.188) [env.py: 1079] +05/11 23:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg [env.py: 1082] +05/11 23:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/11 23:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:47 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:47 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113430m [env.py: 870] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52669675 -0.79062751 -0.11343009] yaw=-69.4deg [env.py: 1019] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45976762 -0.86530665 -0.11343009] yaw=-62.1deg [env.py: 1019] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.66425391 -0.90929891 -0.11343009] yaw=-81.2deg [env.py: 1019] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.2ms, total=211.3ms [env.py: 1075] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.791, -0.113) [env.py: 1079] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg [env.py: 1082] +05/11 23:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:48 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.627s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:28:50 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:28:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199099m [env.py: 870] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.0ms, total=190.1ms [env.py: 1105] +05/11 23:28:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:28:51 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:28:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195465m [env.py: 870] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55763739 -0.97263331 -0.19546525] yaw=-53.0deg [env.py: 1019] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.4ms, total=194.4ms [env.py: 1075] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.973, -0.195) [env.py: 1079] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/11 23:28:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:53 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.102s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:53 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.678[m] 87.720[deg] [grasp_sample.py: 539] +05/11 23:28:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:54 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:28:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:55 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.642[m] 88.190[deg] [grasp_sample.py: 539] +05/11 23:28:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:28:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:28:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:28:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:28:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124138m [env.py: 870] +05/11 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48095439 -0.7683688 -0.12413835] yaw=-65.1deg [env.py: 1019] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=445.9ms, total=445.9ms [env.py: 1075] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.481, -0.768, -0.124) [env.py: 1079] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg [env.py: 1082] +05/11 23:28:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/11 23:28:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:56 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:28:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:28:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.380s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:28:57 INFO: [Worker 0] Feasible grasp found 461 (originally 461): w/ 0.745[m] 84.028[deg] [grasp_sample.py: 539] +05/11 23:28:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.363s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:28:58 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:28:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:28:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:28:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:28:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:28:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:28:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:28:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119808m [env.py: 870] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:28:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45873603 -1.04800782 -0.11980817] yaw=-43.3deg [env.py: 1019] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:28:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.7ms [env.py: 1075] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -1.048, -0.120) [env.py: 1079] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/11 23:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:28:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:28:59 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/11 23:28:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:28:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:28:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:29:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:29:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:29:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:29:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:29:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:29:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:29:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:29:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:29:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:29:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189002m [env.py: 870] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:29:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.7ms, total=222.8ms [env.py: 1105] +05/11 23:29:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:29:00 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:29:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:29:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:29:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:29:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:29:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:29:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:29:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186638m [env.py: 870] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:29:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.7ms, total=218.8ms [env.py: 1105] +05/11 23:29:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:29:01 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:29:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.680s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:29:02 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.670[m] 88.976[deg] [grasp_sample.py: 539] +05/11 23:29:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:29:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:29:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:29:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:29:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:29:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:29:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169119m [env.py: 870] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:29:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39395988 -0.89401006 -0.1691186 ] yaw=-48.4deg [env.py: 1019] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:29:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms [env.py: 1075] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.894, -0.169) [env.py: 1079] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/11 23:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:29:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:29:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:29:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:29:03 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/11 23:29:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 23:29:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:29:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:29:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:29:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:29:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:29:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.685s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:29:07 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.759[m] 91.515[deg] [grasp_sample.py: 539] +05/11 23:29:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:29:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:29:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:29:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:29:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:29:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:29:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:29:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.359s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:29:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.463[m] 58.042[deg] [grasp_sample.py: 539] +05/11 23:29:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:29:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:29:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:29:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:29:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:29:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:29:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:29:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.463[m] 58.044[deg] [grasp_sample.py: 539] +05/11 23:29:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:29:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:29:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:29:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:29:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:29:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:29:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:29:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.334s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:29:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.463[m] 58.044[deg] [grasp_sample.py: 539] +05/11 23:29:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:29:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:29:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:29:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:29:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:29:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.449s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:29:51 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.151[m] 18.354[deg] [grasp_sample.py: 539] +05/11 23:29:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:29:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:29:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:30:01 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:30:01 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:30:01 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=3.98s: + episode_total: mean=27.93s, total=111.71s, count=4, min=198.3ms, max=68456.6ms + sensor_polling: mean=353.0ms, total=27.89s, count=79, min=300.2ms, max=593.5ms + task_sampling: mean=1.33s, total=3.98s, count=3, min=393.6ms, max=3127.4ms + scene_load: mean=2.65s, total=2.65s, count=1, min=2650.0ms, max=2650.0ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1672.1ms, max=1672.1ms + task_specific_sample: mean=379.0ms, total=1.52s, count=4, min=194.8ms, max=475.1ms + physics_step: mean=18.4ms, total=1.46s, count=79, min=13.0ms, max=26.9ms + scene_compile: mean=837.1ms, total=837.1ms, count=1, min=837.1ms, max=837.1ms + compile_mujoco: mean=564.4ms, total=564.4ms, count=1, min=564.4ms, max=564.4ms + compile_xml_load: mean=208.1ms, total=208.1ms, count=1, min=208.1ms, max=208.1ms + task_sampling_failed: mean=198.3ms, total=198.3ms, count=1, min=198.3ms, max=198.3ms + scene_init: mean=99.0ms, total=99.0ms, count=1, min=99.0ms, max=99.0ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + scene_asset_install: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms + asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + scene_randomize: mean=988.0us, total=4.0ms, count=4, min=0.9ms, max=1.1ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=399.1us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=25.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:30:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:30:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:30:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:30:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:30:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:30:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182256m [env.py: 870] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:30:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45678666 -0.93052899 -0.18225582] yaw=-58.3deg [env.py: 1019] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55854524 -0.85708407 -0.18225582] yaw=-74.7deg [env.py: 1019] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=214.1ms, total=214.2ms [env.py: 1075] +05/11 23:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -0.931, -0.182) [env.py: 1079] +05/11 23:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/11 23:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/11 23:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:30:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:30:03 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/11 23:30:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:30:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:30:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:30:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:30:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:30:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:30:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:30:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:30:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.696[m] 90.617[deg] [grasp_sample.py: 539] +05/11 23:30:06 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:30:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:30:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:30:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:30:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:30:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161421m [env.py: 870] +05/11 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49454466 -0.86778043 -0.16142064] yaw=-56.4deg [env.py: 1019] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:30:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=663.0ms, total=663.1ms [env.py: 1075] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -0.868, -0.161) [env.py: 1079] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/11 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/11 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:30:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.316s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:30:08 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.170[m] 16.202[deg] [grasp_sample.py: 539] +05/11 23:30:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:30:08 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/11 23:30:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:30:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:30:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:30:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:30:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:30:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:30:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.444s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:30:13 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.766[m] 77.940[deg] [grasp_sample.py: 539] +05/11 23:30:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:30:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:30:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:30:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:30:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:30:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:30:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.004s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:30:29 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.165[m] 15.638[deg] [grasp_sample.py: 539] +05/11 23:30:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:30:30 INFO: [Worker 0] Object is not in grasp! 0.00199 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:30:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:30:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:30:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:30:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 405 non-colliding grasps [grasp_sample.py: 465] +05/11 23:30:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:30:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.332s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:30:30 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.051[m] 1.605[deg] [grasp_sample.py: 539] +05/11 23:30:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:30:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:30:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:30:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:30:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:30:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:30:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:30:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:30:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:30:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:30:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:30:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 382 non-colliding grasps [grasp_sample.py: 465] +05/11 23:30:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:30:45 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.025[m] 0.805[deg] [grasp_sample.py: 539] +05/11 23:30:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:30:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.779s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:30:46 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.165[m] 15.638[deg] [grasp_sample.py: 539] +05/11 23:30:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:30:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:30:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:30:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:55 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:30:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:30:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:30:57 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:30:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:30:57 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=2.07s: + episode_total: mean=27.72s, total=166.31s, count=6, min=226.2ms, max=114786.4ms + sensor_polling: mean=328.8ms, total=53.26s, count=162, min=304.0ms, max=501.1ms + task_sampling_failed: mean=1.34s, total=4.01s, count=3, min=226.2ms, max=3557.9ms + physics_step: mean=19.8ms, total=3.21s, count=162, min=13.3ms, max=29.0ms + task_specific_sample: mean=510.9ms, total=3.07s, count=6, min=223.4ms, max=1041.5ms + scene_load: mean=3.00s, total=3.00s, count=1, min=3002.4ms, max=3002.4ms + task_sampling: mean=689.7ms, total=2.07s, count=3, min=411.3ms, max=1044.2ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1988.8ms, max=1988.8ms + scene_compile: mean=872.1ms, total=872.1ms, count=1, min=872.1ms, max=872.1ms + compile_mujoco: mean=554.6ms, total=554.6ms, count=1, min=554.6ms, max=554.6ms + compile_xml_load: mean=252.0ms, total=252.0ms, count=1, min=252.0ms, max=252.0ms + scene_init: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + scene_randomize: mean=1.1ms, total=6.3ms, count=6, min=0.9ms, max=1.6ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + mj_forward_sync: mean=385.6us, total=2.3ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:30:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:30:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:30:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:30:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:30:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:30:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:30:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:30:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104754m [env.py: 870] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:30:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:30:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=217.0ms, total=217.1ms [env.py: 1105] +05/11 23:30:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:30:59 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:31:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165316m [env.py: 870] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.5ms, total=158.5ms [env.py: 1105] +05/11 23:31:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:31:01 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:31:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149057m [env.py: 870] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44789324 -1.10061978 -0.14905685] yaw=-56.7deg [env.py: 1019] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.7ms [env.py: 1075] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -1.101, -0.149) [env.py: 1079] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/11 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:02 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.364s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.615[m] 91.967[deg] [grasp_sample.py: 539] +05/11 23:31:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:31:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:31:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:31:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:31:07 INFO: [Worker 0] Object is not in grasp! 0.00194 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:31:07 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:31:07 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:31:07 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=4.86s: + episode_total: mean=91.30s, total=182.60s, count=2, min=36722.2ms, max=145876.6ms + sensor_polling: mean=365.7ms, total=106.78s, count=292, min=315.3ms, max=547.3ms + physics_step: mean=22.5ms, total=6.58s, count=292, min=19.0ms, max=33.9ms + task_sampling: mean=2.43s, total=4.86s, count=2, min=379.1ms, max=4484.3ms + scene_load: mean=3.83s, total=3.83s, count=1, min=3834.0ms, max=3834.0ms + scene_env_create: mean=1.87s, total=1.87s, count=1, min=1874.6ms, max=1874.6ms + scene_compile: mean=1.80s, total=1.80s, count=1, min=1796.7ms, max=1796.7ms + task_specific_sample: mean=512.4ms, total=1.02s, count=2, min=376.7ms, max=648.2ms + compile_xml_load: mean=1.00s, total=1.00s, count=1, min=1002.3ms, max=1002.3ms + compile_mujoco: mean=676.2ms, total=676.2ms, count=1, min=676.2ms, max=676.2ms + scene_init: mean=97.1ms, total=97.1ms, count=1, min=97.1ms, max=97.1ms + scene_asset_install: mean=65.2ms, total=65.2ms, count=1, min=65.2ms, max=65.2ms + compile_aux_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_aux_policy_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_robot_add: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=47.9ms, total=47.9ms, count=1, min=47.9ms, max=47.9ms + asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + scene_randomize: mean=1.0ms, total=2.1ms, count=2, min=0.9ms, max=1.2ms + mj_forward_sync: mean=401.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:31:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186844m [env.py: 870] +05/11 23:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.4ms, total=203.4ms [env.py: 1105] +05/11 23:31:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:31:09 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:31:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151818m [env.py: 870] +05/11 23:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52708416 -0.84780321 -0.1518185 ] yaw=-60.2deg [env.py: 1019] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.8ms [env.py: 1075] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.848, -0.152) [env.py: 1079] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/11 23:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/11 23:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:11 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.719s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.753[m] 81.195[deg] [grasp_sample.py: 539] +05/11 23:31:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:31:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:31:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:31:13 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/11 23:31:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:31:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:31:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:31:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:31:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.627s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:19 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.144[m] 10.101[deg] [grasp_sample.py: 539] +05/11 23:31:20 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131181m [env.py: 870] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26136663 -0.89873484 -0.13118069] yaw=-44.0deg [env.py: 1019] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33897004 -1.04127164 -0.13118069] yaw=-44.0deg [env.py: 1019] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -0.899, -0.131) [env.py: 1079] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg [env.py: 1082] +05/11 23:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:21 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.945s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:31:23 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115991m [env.py: 870] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51331382 -1.02553664 -0.11599074] yaw=-54.3deg [env.py: 1019] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30667986 -1.01760068 -0.11599074] yaw=-44.6deg [env.py: 1019] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46969729 -0.98215068 -0.11599074] yaw=-61.8deg [env.py: 1019] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.1ms, total=131.1ms [env.py: 1075] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -1.026, -0.116) [env.py: 1079] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/11 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:25 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:31:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:31:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.80s (batch: 3.62s, save: 9.18s) [pipeline.py: 300] +05/11 23:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:27 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=6.48s: + episode_total: mean=24.35s, total=194.83s, count=8, min=180.5ms, max=147932.7ms + sensor_polling: mean=353.0ms, total=96.02s, count=272, min=295.9ms, max=471.1ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9179.5ms, max=9179.5ms + task_sampling: mean=1.62s, total=6.48s, count=4, min=414.7ms, max=4685.9ms + physics_step: mean=22.3ms, total=6.06s, count=272, min=19.3ms, max=30.2ms + scene_load: mean=3.94s, total=3.94s, count=1, min=3942.9ms, max=3942.9ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3619.0ms, max=3619.0ms + task_specific_sample: mean=417.6ms, total=3.34s, count=8, min=177.7ms, max=738.1ms + scene_env_create: mean=1.94s, total=1.94s, count=1, min=1943.9ms, max=1943.9ms + scene_compile: mean=1.85s, total=1.85s, count=1, min=1847.1ms, max=1847.1ms + compile_xml_load: mean=1.10s, total=1.10s, count=1, min=1098.6ms, max=1098.6ms + task_sampling_failed: mean=206.2ms, total=824.9ms, count=4, min=180.5ms, max=238.0ms + compile_mujoco: mean=630.7ms, total=630.7ms, count=1, min=630.7ms, max=630.7ms + scene_init: mean=96.2ms, total=96.2ms, count=1, min=96.2ms, max=96.2ms + compile_aux_objects: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_policy_objects: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + scene_asset_install: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms + compile_robot_add: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + scene_randomize: mean=1.0ms, total=8.3ms, count=8, min=0.9ms, max=1.3ms + asset_install_scene: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms + mj_forward_sync: mean=437.5us, total=3.5ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=18.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193677m [env.py: 870] +05/11 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29829673 -0.89848494 -0.19367695] yaw=-52.7deg [env.py: 1019] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54127508 -0.83915201 -0.19367695] yaw=-71.1deg [env.py: 1019] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=536.5ms, total=536.5ms [env.py: 1075] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.898, -0.194) [env.py: 1079] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/11 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/11 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:29 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.252s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:30 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.680[m] 83.803[deg] [grasp_sample.py: 539] +05/11 23:31:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:31:30 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:31:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:31:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:31 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106351m [env.py: 870] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46402502 -0.79047167 -0.10635114] yaw=-66.5deg [env.py: 1019] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6021255 -0.8049439 -0.10635114] yaw=-61.0deg [env.py: 1019] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.6ms, total=189.6ms [env.py: 1075] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.790, -0.106) [env.py: 1079] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/11 23:31:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.444[m] 61.196[deg] [grasp_sample.py: 539] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140887m [env.py: 870] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:32 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=264.4ms, total=264.5ms [env.py: 1105] +05/11 23:31:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:31:32 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:31:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:33 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:31:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134242m [env.py: 870] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.8ms, total=200.8ms [env.py: 1105] +05/11 23:31:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:31:34 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:31:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:31:34 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:31:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184807m [env.py: 870] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55827169 -1.0325254 -0.18480667] yaw=-51.1deg [env.py: 1019] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.2ms, total=193.3ms [env.py: 1075] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -1.033, -0.185) [env.py: 1079] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:35 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194536m [env.py: 870] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185515m [env.py: 870] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.1ms, total=214.1ms [env.py: 1105] +05/11 23:31:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:31:35 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:31:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=303.8ms, total=303.8ms [env.py: 1105] +05/11 23:31:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:31:36 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:31:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.877s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.631[m] 83.795[deg] [grasp_sample.py: 539] +05/11 23:31:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:31:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:31:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128133m [env.py: 870] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51487773 -1.02486517 -0.12813274] yaw=-62.6deg [env.py: 1019] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:31:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:31:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:31:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:31:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102152m [env.py: 870] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47452736 -0.88598237 -0.12813274] yaw=-57.1deg [env.py: 1019] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.5ms [env.py: 1075] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -1.025, -0.128) [env.py: 1079] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60303767 -0.97986876 -0.10215193] yaw=-62.6deg [env.py: 1019] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=275.9ms, total=276.0ms [env.py: 1075] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.603, -0.980, -0.102) [env.py: 1079] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/11 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:31:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:37 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:31:38 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/11 23:31:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 23:31:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:31:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:31:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:31:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.578s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.701[m] 88.997[deg] [grasp_sample.py: 539] +05/11 23:31:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:31:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:31:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:31:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.553s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:31:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.655[m] 95.101[deg] [grasp_sample.py: 539] +05/11 23:31:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:31:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:31:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:32:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:32:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.905s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.499[m] 67.527[deg] [grasp_sample.py: 539] +05/11 23:32:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.734s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:10 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.580[m] 65.249[deg] [grasp_sample.py: 539] +05/11 23:32:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:32:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:32:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.837s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 66.715[deg] [grasp_sample.py: 539] +05/11 23:32:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:23 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:32:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:32:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:32:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:32:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:32:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:32:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116532m [env.py: 870] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:32:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.10704685 -1.06130603 -0.11653185] yaw=-41.4deg [env.py: 1019] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61789166 -0.80814558 -0.11653185] yaw=-63.2deg [env.py: 1019] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:32:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=208.9ms, total=209.0ms [env.py: 1075] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -1.061, -0.117) [env.py: 1079] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/11 23:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.055s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:25 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.121[m] 8.836[deg] [grasp_sample.py: 539] +05/11 23:32:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:32:25 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/11 23:32:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 23:32:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:32:26 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:32:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:32:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:32:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:32:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:32:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:32:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174095m [env.py: 870] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:32:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=258.8ms, total=258.9ms [env.py: 1105] +05/11 23:32:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:32:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:32:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:32:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128155m [env.py: 870] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60443263 -0.92558601 -0.12815451] yaw=-68.6deg [env.py: 1019] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:32:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=194.2ms, total=194.3ms [env.py: 1075] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.604, -0.926, -0.128) [env.py: 1079] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg [env.py: 1082] +05/11 23:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:32:29 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/11 23:32:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 23:32:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.296s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:29 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.581[m] 65.334[deg] [grasp_sample.py: 539] +05/11 23:32:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.960s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:34 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.705[m] 100.333[deg] [grasp_sample.py: 539] +05/11 23:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:32:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.665s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:36 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.175[m] 10.586[deg] [grasp_sample.py: 539] +05/11 23:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:37 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:32:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:32:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:32:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:32:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:32:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126078m [env.py: 870] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:32:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46247674 -0.97413313 -0.12607836] yaw=-64.0deg [env.py: 1019] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49327492 -0.84214202 -0.12607836] yaw=-66.7deg [env.py: 1019] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:32:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1075] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.974, -0.126) [env.py: 1079] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/11 23:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:32:38 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/11 23:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:32:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.452s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:41 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.727[m] 81.674[deg] [grasp_sample.py: 539] +05/11 23:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:32:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:32:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:42 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:32:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:32:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:32:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:32:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:32:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:32:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190138m [env.py: 870] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:32:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5282193 -1.0104924 -0.19013751] yaw=-54.2deg [env.py: 1019] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36572666 -1.09376423 -0.19013751] yaw=-58.8deg [env.py: 1019] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:32:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.4ms, total=205.4ms [env.py: 1075] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -1.010, -0.190) [env.py: 1079] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/11 23:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:32:44 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/11 23:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 23:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.826s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:45 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.636[m] 91.122[deg] [grasp_sample.py: 539] +05/11 23:32:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:32:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.309s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:48 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.580[m] 65.249[deg] [grasp_sample.py: 539] +05/11 23:32:49 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:32:49 INFO: [Worker 0] Object is not in grasp! 0.00107 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:32:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:32:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 376 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.314s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:49 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.521[deg] [grasp_sample.py: 539] +05/11 23:32:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:32:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:32:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:32:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:32:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:32:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149648m [env.py: 870] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:32:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29640997 -1.1636448 -0.14964812] yaw=-50.8deg [env.py: 1019] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45473589 -0.83697195 -0.14964812] yaw=-68.8deg [env.py: 1019] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:32:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms [env.py: 1075] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.164, -0.150) [env.py: 1079] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/11 23:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:32:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:32:51 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/11 23:32:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:32:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:32:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:32:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:32:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:32:52 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.695[m] 92.549[deg] [grasp_sample.py: 539] +05/11 23:32:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:32:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:32:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:32:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:32:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:33:03 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:33:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:33:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:33:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:33:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 382 non-colliding grasps [grasp_sample.py: 465] +05/11 23:33:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.333s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:33:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.057[m] 0.262[deg] [grasp_sample.py: 539] +05/11 23:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:33:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:33:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:33:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:33:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:33:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:33:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:33:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.001s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:33:19 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.457[m] 59.870[deg] [grasp_sample.py: 539] +05/11 23:33:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:33:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:33:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:27 INFO: [Worker 0] Object is not in grasp! 0.00096 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:33:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:33:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:33:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:33:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/11 23:33:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.339s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:33:28 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.576[deg] [grasp_sample.py: 539] +05/11 23:33:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:33:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:33:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:33:31 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.84s: + episode_total: mean=37.07s, total=148.30s, count=4, min=166.4ms, max=116477.8ms + sensor_polling: mean=338.5ms, total=118.13s, count=349, min=291.5ms, max=519.1ms + physics_step: mean=22.7ms, total=7.94s, count=349, min=14.7ms, max=52.7ms + task_specific_sample: mean=306.1ms, total=1.22s, count=4, min=163.4ms, max=449.0ms + task_sampling: mean=421.6ms, total=843.2ms, count=2, min=392.1ms, max=451.0ms + task_sampling_failed: mean=195.7ms, total=391.3ms, count=2, min=166.4ms, max=224.9ms + scene_randomize: mean=1.1ms, total=4.2ms, count=4, min=0.9ms, max=1.2ms + mj_forward_sync: mean=404.3us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:33:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:33:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:33:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:33:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:33:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:33:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:33:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163652m [env.py: 870] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:33:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54637623 -1.03300698 -0.16365222] yaw=-65.0deg [env.py: 1019] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3385627 -1.17229094 -0.16365222] yaw=-48.5deg [env.py: 1019] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:33:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.4ms, total=224.4ms [env.py: 1075] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -1.033, -0.164) [env.py: 1079] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/11 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:33:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:33:33 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/11 23:33:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 23:33:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:33:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:33:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:33:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.662s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:33:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.603[m] 86.397[deg] [grasp_sample.py: 539] +05/11 23:33:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:33:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:33:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:33:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:33:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:33:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:33:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/11 23:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:33:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.232s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:33:55 INFO: [Worker 0] Feasible grasp found 289 (originally 289): w/ 0.053[m] 0.364[deg] [grasp_sample.py: 539] +05/11 23:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:33:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:33:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:33:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:33:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:33:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156263m [env.py: 870] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.8ms, total=213.8ms [env.py: 1105] +05/11 23:33:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:33:58 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:33:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:33:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:33:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:33:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:33:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:33:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:34:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:34:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190039m [env.py: 870] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.4ms, total=205.5ms [env.py: 1105] +05/11 23:34:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:34:00 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:34:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:34:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:34:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:34:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:34:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:34:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166394m [env.py: 870] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:34:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47995034 -0.97441288 -0.16639381] yaw=-60.1deg [env.py: 1019] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:34:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms [env.py: 1075] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.974, -0.166) [env.py: 1079] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/11 23:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.844s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:01 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.474[m] 62.872[deg] [grasp_sample.py: 539] +05/11 23:34:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:34:01 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/11 23:34:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:34:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.686[m] 93.785[deg] [grasp_sample.py: 539] +05/11 23:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:34:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:34:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:34:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.375s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.474[m] 62.872[deg] [grasp_sample.py: 539] +05/11 23:34:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:34:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:34:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 330 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.019s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:22 INFO: [Worker 0] Feasible grasp found 220 (originally 220): w/ 0.051[m] 3.064[deg] [grasp_sample.py: 539] +05/11 23:34:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:34:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:34:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.639s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.474[m] 62.872[deg] [grasp_sample.py: 539] +05/11 23:34:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:34:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:34:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.565s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:31 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.522[m] 65.868[deg] [grasp_sample.py: 539] +05/11 23:34:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:34:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:34:40 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:34:40 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.45s: + episode_total: mean=67.44s, total=67.44s, count=1, min=67442.5ms, max=67442.5ms + sensor_polling: mean=317.6ms, total=21.59s, count=68, min=295.9ms, max=516.0ms + physics_step: mean=17.7ms, total=1.20s, count=68, min=12.9ms, max=26.8ms + task_sampling: mean=453.9ms, total=453.9ms, count=1, min=453.9ms, max=453.9ms + task_specific_sample: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=359.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:34:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:34:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:34:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:34:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167493m [env.py: 870] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36540137 -1.03692103 -0.16749274] yaw=-58.5deg [env.py: 1019] +05/11 23:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:34:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=211.3ms, total=211.4ms [env.py: 1075] +05/11 23:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -1.037, -0.167) [env.py: 1079] +05/11 23:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/11 23:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/11 23:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:34:42 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/11 23:34:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/11 23:34:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:34:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:34:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:43 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:34:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.649s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.522[m] 65.869[deg] [grasp_sample.py: 539] +05/11 23:34:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.184s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:46 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.699[m] 82.360[deg] [grasp_sample.py: 539] +05/11 23:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:47 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:34:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:34:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:34:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:34:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:34:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:34:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168674m [env.py: 870] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:34:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=293.9ms, total=293.9ms [env.py: 1105] +05/11 23:34:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:34:49 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:34:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:34:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:34:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:34:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:34:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:34:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152962m [env.py: 870] +05/11 23:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:34:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=317.2ms, total=317.2ms [env.py: 1105] +05/11 23:34:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:34:51 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:34:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:34:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:34:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:34:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:34:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168453m [env.py: 870] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:34:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.6ms, total=211.7ms [env.py: 1105] +05/11 23:34:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:34:52 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:34:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:34:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:34:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:34:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:34:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197644m [env.py: 870] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:34:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45954206 -1.06515022 -0.19764369] yaw=-56.7deg [env.py: 1019] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37631857 -1.04021286 -0.19764369] yaw=-43.9deg [env.py: 1019] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:34:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.5ms [env.py: 1075] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.065, -0.198) [env.py: 1079] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/11 23:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:34:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:34:54 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/11 23:34:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.654s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.631[m] 85.321[deg] [grasp_sample.py: 539] +05/11 23:34:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:34:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:34:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:34:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:34:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:34:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:34:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.293s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:34:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.521[m] 65.064[deg] [grasp_sample.py: 539] +05/11 23:34:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:34:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:34:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:35:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:35:04 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/11 23:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:35:09 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:35:09 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:35:09 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=3.95s: + episode_total: mean=20.68s, total=289.53s, count=14, min=210.4ms, max=87633.3ms + sensor_polling: mean=359.9ms, total=152.94s, count=425, min=296.2ms, max=588.3ms + physics_step: mean=22.3ms, total=9.46s, count=425, min=12.9ms, max=70.7ms + task_specific_sample: mean=380.3ms, total=5.32s, count=14, min=206.9ms, max=964.3ms + task_sampling: mean=494.2ms, total=3.95s, count=8, min=333.6ms, max=966.7ms + task_sampling_failed: mean=235.0ms, total=1.41s, count=6, min=210.4ms, max=274.4ms + scene_randomize: mean=1.1ms, total=15.5ms, count=14, min=0.9ms, max=1.4ms + mj_forward_sync: mean=436.5us, total=6.1ms, count=14, min=0.4ms, max=0.6ms + policy_setup: mean=14.5us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:35:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121451m [env.py: 870] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=297.2ms, total=297.2ms [env.py: 1105] +05/11 23:35:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:35:11 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:35:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125258m [env.py: 870] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29732423 -1.04104952 -0.12525823] yaw=-42.7deg [env.py: 1019] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:35:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.2ms, total=236.3ms [env.py: 1075] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.041, -0.125) [env.py: 1079] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg [env.py: 1082] +05/11 23:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:35:12 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/11 23:35:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:35:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:35:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:35:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:35:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:35:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:35:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:35:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:35:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/11 23:35:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.373s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:35:15 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.053[m] 4.201[deg] [grasp_sample.py: 539] +05/11 23:35:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:35:16 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:35:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:35:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:35:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.77s (batch: 3.90s, save: 9.86s) [pipeline.py: 300] +05/11 23:35:18 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=2.18s: + episode_total: mean=44.95s, total=224.74s, count=5, min=313.9ms, max=148385.3ms + sensor_polling: mean=363.2ms, total=122.75s, count=338, min=299.1ms, max=626.2ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.0ms, max=9863.0ms + physics_step: mean=22.8ms, total=7.72s, count=338, min=12.7ms, max=55.8ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3904.8ms, max=3904.8ms + task_specific_sample: mean=495.4ms, total=2.48s, count=5, min=311.0ms, max=783.2ms + task_sampling: mean=544.3ms, total=2.18s, count=4, min=445.9ms, max=786.6ms + task_sampling_failed: mean=313.9ms, total=313.9ms, count=1, min=313.9ms, max=313.9ms + scene_randomize: mean=1.4ms, total=7.1ms, count=5, min=1.0ms, max=2.1ms + mj_forward_sync: mean=463.4us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=19.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:35:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103757m [env.py: 870] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=177.0ms, total=177.0ms [env.py: 1105] +05/11 23:35:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:35:20 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:35:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.244s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:35:21 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.745[m] 89.865[deg] [grasp_sample.py: 539] +05/11 23:35:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185741m [env.py: 870] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21808883 -1.18305234 -0.1857413 ] yaw=-36.9deg [env.py: 1019] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:35:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.0ms, total=182.1ms [env.py: 1075] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.183, -0.186) [env.py: 1079] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg [env.py: 1082] +05/11 23:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:35:21 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/11 23:35:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 23:35:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:35:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:35:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:35:22 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:35:22 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/11 23:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165542m [env.py: 870] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 180.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52756896 -0.88981761 -0.16554204] yaw=-56.1deg [env.py: 1019] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28377747 -1.11373436 -0.16554204] yaw=-40.4deg [env.py: 1019] +05/11 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=313.0ms, total=313.0ms [env.py: 1075] +05/11 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.890, -0.166) [env.py: 1079] +05/11 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/11 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/11 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:35:24 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/11 23:35:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:35:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:35:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:35:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:35:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.648s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:35:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.733[m] 88.139[deg] [grasp_sample.py: 539] +05/11 23:35:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:35:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:35:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:35:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.128s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:35:27 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.705[m] 84.316[deg] [grasp_sample.py: 539] +05/11 23:35:28 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152250m [env.py: 870] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52650717 -0.94487786 -0.15225046] yaw=-52.3deg [env.py: 1019] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.8ms [env.py: 1075] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.945, -0.152) [env.py: 1079] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/11 23:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:35:30 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/11 23:35:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:35:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:35:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:35:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.512s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:35:33 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.710[m] 92.782[deg] [grasp_sample.py: 539] +05/11 23:35:35 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:35:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194630m [env.py: 870] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59168264 -0.97375786 -0.19463045] yaw=-70.7deg [env.py: 1019] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48654532 -0.81540293 -0.19463045] yaw=-65.3deg [env.py: 1019] +05/11 23:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53732245 -0.93523084 -0.19463045] yaw=-65.6deg [env.py: 1019] +05/11 23:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:35:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=334.2ms, total=334.3ms [env.py: 1075] +05/11 23:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.974, -0.195) [env.py: 1079] +05/11 23:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/11 23:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/11 23:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:35:37 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/11 23:35:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:35:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:35:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:35:37 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:35:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:35:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 23:35:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.679s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:35:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.591[m] 85.433[deg] [grasp_sample.py: 539] +05/11 23:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:35:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:35:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:35:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:35:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:35:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.52s (batch: 2.99s, save: 11.54s) [pipeline.py: 300] +05/11 23:35:52 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.32s: + episode_total: mean=69.78s, total=279.13s, count=4, min=212.3ms, max=188578.5ms + sensor_polling: mean=383.4ms, total=173.69s, count=453, min=317.1ms, max=610.0ms + save_trajectories: mean=11.54s, total=11.54s, count=1, min=11535.4ms, max=11535.4ms + physics_step: mean=22.7ms, total=10.30s, count=453, min=14.4ms, max=102.9ms + save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2986.0ms, max=2986.0ms + task_specific_sample: mean=379.4ms, total=1.52s, count=4, min=208.4ms, max=485.2ms + task_sampling: mean=438.8ms, total=1.32s, count=3, min=409.8ms, max=487.8ms + task_sampling_failed: mean=212.3ms, total=212.3ms, count=1, min=212.3ms, max=212.3ms + scene_randomize: mean=1.0ms, total=4.1ms, count=4, min=1.0ms, max=1.1ms + mj_forward_sync: mean=417.9us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:35:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184751m [env.py: 870] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=231.4ms, total=231.4ms [env.py: 1105] +05/11 23:35:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:35:54 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190914m [env.py: 870] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.3ms, total=156.3ms [env.py: 1105] +05/11 23:35:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:35:55 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:35:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:35:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:35:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:35:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:35:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141231m [env.py: 870] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:35:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 180.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16795098 -1.13956016 -0.14123122] yaw=-27.3deg [env.py: 1019] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:35:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=714.4ms, total=714.4ms [env.py: 1075] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.140, -0.141) [env.py: 1079] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.3 deg [env.py: 1082] +05/11 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:35:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:35:58 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/11 23:35:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 23:35:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:35:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:35:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:35:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:36:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:36:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:36:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:36:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:36:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:36:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.167s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:36:05 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.745[m] 85.643[deg] [grasp_sample.py: 539] +05/11 23:36:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:36:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:36:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:36:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:36:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.401s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:36:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.435[m] 58.045[deg] [grasp_sample.py: 539] +05/11 23:36:07 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:36:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:36:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:36:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:36:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:36:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:36:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156479m [env.py: 870] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:36:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1105] +05/11 23:36:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:36:09 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:36:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:36:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:36:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:36:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:36:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:36:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170801m [env.py: 870] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:36:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.2ms, total=215.2ms [env.py: 1105] +05/11 23:36:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:36:11 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:36:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:36:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:36:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:36:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:36:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:36:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108843m [env.py: 870] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:36:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48306043 -0.99368331 -0.10884291] yaw=-54.5deg [env.py: 1019] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21473681 -1.14088986 -0.10884291] yaw=-30.1deg [env.py: 1019] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41413206 -0.92888078 -0.10884291] yaw=-56.2deg [env.py: 1019] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:36:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.8ms [env.py: 1075] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.994, -0.109) [env.py: 1079] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/11 23:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:36:12 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/11 23:36:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 23:36:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:36:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:36:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:36:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.376s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:36:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.694[m] 92.211[deg] [grasp_sample.py: 539] +05/11 23:36:15 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:36:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:36:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148616m [env.py: 870] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26963704 -0.9262356 -0.14861642] yaw=-45.6deg [env.py: 1019] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.1ms [env.py: 1075] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -0.926, -0.149) [env.py: 1079] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/11 23:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:36:16 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/11 23:36:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:36:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:36:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:36:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:36:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.323s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:36:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:36:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131465m [env.py: 870] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21761523 -1.10527907 -0.13146488] yaw=-51.5deg [env.py: 1019] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.4ms, total=237.5ms [env.py: 1075] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.105, -0.131) [env.py: 1079] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/11 23:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:36:20 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/11 23:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:36:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:36:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:36:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:36:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.547s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:36:24 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.720[m] 87.319[deg] [grasp_sample.py: 539] +05/11 23:36:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:36:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:36:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:36:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:36:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:36:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:36:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:36:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:36:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:36:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.602s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:36:31 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.117[m] 7.326[deg] [grasp_sample.py: 539] +05/11 23:36:32 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:36:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:36:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:36:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:36:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:36:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:36:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175588m [env.py: 870] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:36:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.3ms, total=213.3ms [env.py: 1105] +05/11 23:36:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:36:33 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:36:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:36:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:36:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:36:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:36:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:36:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114108m [env.py: 870] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:36:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56188254 -0.97762818 -0.11410775] yaw=-68.0deg [env.py: 1019] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:36:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms [env.py: 1075] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.978, -0.114) [env.py: 1079] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/11 23:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:36:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:36:35 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 23:36:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:36:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:36:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:36:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.122s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:36:44 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.689[m] 89.460[deg] [grasp_sample.py: 539] +05/11 23:36:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:36:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:36:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:36:47 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:37:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 23:37:07 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/11 23:37:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:37:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:37:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:37:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:37:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:37:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:37:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:37:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.605s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:37:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.517[m] 61.784[deg] [grasp_sample.py: 539] +05/11 23:37:15 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:37:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:37:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:37:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:37:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:37:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108030m [env.py: 870] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59033137 -0.94061303 -0.10803039] yaw=-57.8deg [env.py: 1019] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.4ms [env.py: 1075] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.941, -0.108) [env.py: 1079] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/11 23:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:37:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:37:17 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/11 23:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:37:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:37:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:37:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:37:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:37:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:37:19 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.723[m] 77.321[deg] [grasp_sample.py: 539] +05/11 23:37:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:37:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:37:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.06s (batch: 3.32s, save: 8.75s) [pipeline.py: 300] +05/11 23:37:20 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.87s: + episode_total: mean=30.62s, total=153.08s, count=5, min=219.7ms, max=146416.3ms + sensor_polling: mean=364.6ms, total=95.17s, count=261, min=296.9ms, max=600.6ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8746.8ms, max=8746.8ms + physics_step: mean=24.0ms, total=6.25s, count=261, min=15.3ms, max=174.3ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3318.0ms, max=3318.0ms + task_specific_sample: mean=339.7ms, total=1.70s, count=5, min=216.6ms, max=431.7ms + task_sampling: mean=432.9ms, total=865.7ms, count=2, min=431.5ms, max=434.2ms + task_sampling_failed: mean=283.1ms, total=849.2ms, count=3, min=219.7ms, max=328.0ms + scene_randomize: mean=1.0ms, total=5.1ms, count=5, min=0.9ms, max=1.3ms + mj_forward_sync: mean=365.4us, total=1.8ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:37:20 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:37:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:37:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:37:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:37:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:37:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:37:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:37:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194566m [env.py: 870] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:37:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:37:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:37:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:37:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:37:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:37:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:37:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186545m [env.py: 870] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:37:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:37:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=192.1ms, total=192.2ms [env.py: 1105] +05/11 23:37:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:37:21 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39864152 -1.07982199 -0.18654507] yaw=-52.5deg [env.py: 1019] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:37:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=432.5ms, total=432.6ms [env.py: 1075] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -1.080, -0.187) [env.py: 1079] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/11 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/11 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:37:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:37:22 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/11 23:37:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/11 23:37:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:37:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:37:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:37:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:37:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:37:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:37:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:37:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:37:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:37:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150226m [env.py: 870] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:37:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39148089 -1.05351194 -0.15022643] yaw=-43.7deg [env.py: 1019] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38437511 -0.84949041 -0.15022643] yaw=-53.5deg [env.py: 1019] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:37:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.9ms, total=186.9ms [env.py: 1075] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -1.054, -0.150) [env.py: 1079] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/11 23:37:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:37:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:37:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:37:23 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/11 23:37:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 23:37:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:37:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:37:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:37:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.353s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:37:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.608[m] 83.995[deg] [grasp_sample.py: 539] +05/11 23:37:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:37:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:37:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:37:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:37:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:37:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.577s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:37:26 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.680[m] 81.827[deg] [grasp_sample.py: 539] +05/11 23:37:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:37:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:37:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:37:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:37:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:37:57 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:38:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:38:16 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:38:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:38:16 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/11 23:38:18 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:38:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:38:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:38:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:38:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:38:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:38:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:38:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.92s (batch: 3.40s, save: 9.53s) [pipeline.py: 300] +05/11 23:38:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.00s: + episode_total: mean=51.16s, total=153.48s, count=3, min=163.8ms, max=153069.7ms + sensor_polling: mean=360.3ms, total=102.70s, count=285, min=315.9ms, max=559.2ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9528.9ms, max=9528.9ms + physics_step: mean=21.8ms, total=6.21s, count=285, min=19.5ms, max=31.3ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3395.1ms, max=3395.1ms + task_specific_sample: mean=465.8ms, total=1.40s, count=3, min=161.0ms, max=997.8ms + task_sampling: mean=1.00s, total=1.00s, count=1, min=1000.3ms, max=1000.3ms + task_sampling_failed: mean=203.6ms, total=407.1ms, count=2, min=163.8ms, max=243.3ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=480.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:38:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:38:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:38:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:38:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:38:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:38:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192127m [env.py: 870] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:38:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.9ms, total=185.0ms [env.py: 1105] +05/11 23:38:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:38:31 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:38:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:38:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:38:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:38:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:38:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:38:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:38:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187963m [env.py: 870] +05/11 23:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:38:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56765399 -0.92233298 -0.18796264] yaw=-74.5deg [env.py: 1019] +05/11 23:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:38:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms [env.py: 1075] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -0.922, -0.188) [env.py: 1079] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.5 deg [env.py: 1082] +05/11 23:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/11 23:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:38:33 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/11 23:38:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 23:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:38:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:38:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:38:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.445s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:38:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.691[m] 87.053[deg] [grasp_sample.py: 539] +05/11 23:38:36 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:38:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:38:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:38:36 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/11 23:38:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:38:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:38:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:38:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:38:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:38:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102629m [env.py: 870] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:38:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49535457 -1.05998481 -0.10262894] yaw=-66.7deg [env.py: 1019] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53392942 -0.72757534 -0.10262894] yaw=-58.0deg [env.py: 1019] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:38:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.7ms [env.py: 1075] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -1.060, -0.103) [env.py: 1079] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/11 23:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:38:37 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/11 23:38:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:38:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:38:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:38:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:38:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.911s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:38:41 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.704[m] 87.920[deg] [grasp_sample.py: 539] +05/11 23:38:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:38:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:38:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:38:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:38:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:38:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:38:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:38:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:38:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/11 23:38:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:38:46 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.120[m] 5.537[deg] [grasp_sample.py: 539] +05/11 23:38:47 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:38:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:38:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100552m [env.py: 870] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3176291 -1.10249867 -0.10055212] yaw=-45.8deg [env.py: 1019] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:38:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1075] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.318, -1.102, -0.101) [env.py: 1079] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/11 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:38:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:38:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.35s (batch: 3.46s, save: 8.90s) [pipeline.py: 300] +05/11 23:38:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:38:48 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/11 23:38:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:38:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:38:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:38:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:38:49 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=2.66s: + episode_total: mean=22.06s, total=198.57s, count=9, min=186.8ms, max=149617.2ms + sensor_polling: mean=371.8ms, total=119.72s, count=322, min=297.2ms, max=624.8ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8895.7ms, max=8895.7ms + physics_step: mean=23.1ms, total=7.45s, count=322, min=14.5ms, max=36.2ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3457.2ms, max=3457.2ms + task_specific_sample: mean=362.2ms, total=3.26s, count=9, min=182.5ms, max=559.7ms + task_sampling: mean=443.7ms, total=2.66s, count=6, min=389.8ms, max=562.8ms + task_sampling_failed: mean=207.4ms, total=622.3ms, count=3, min=186.8ms, max=223.2ms + scene_randomize: mean=1.2ms, total=10.9ms, count=9, min=0.9ms, max=2.4ms + mj_forward_sync: mean=439.5us, total=4.0ms, count=9, min=0.4ms, max=0.8ms + policy_setup: mean=13.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:38:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:38:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:38:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:38:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:38:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:38:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195601m [env.py: 870] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:38:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40778959 -0.99163178 -0.19560086] yaw=-48.1deg [env.py: 1019] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18957542 -0.96136844 -0.19560086] yaw=-55.4deg [env.py: 1019] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61310322 -0.83587802 -0.19560086] yaw=-58.7deg [env.py: 1019] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:38:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.6ms, total=182.7ms [env.py: 1075] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -0.992, -0.196) [env.py: 1079] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/11 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:38:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:38:51 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 23:38:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 23:38:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:38:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:38:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:38:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.463s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:38:52 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.697[m] 90.031[deg] [grasp_sample.py: 539] +05/11 23:38:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:38:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:38:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:38:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:39:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.300s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:00 INFO: [Worker 0] Feasible grasp found 145 (originally 145): w/ 0.719[m] 79.870[deg] [grasp_sample.py: 539] +05/11 23:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:01 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142121m [env.py: 870] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.5ms, total=194.6ms [env.py: 1105] +05/11 23:39:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:39:03 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:04 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:39:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157726m [env.py: 870] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.5ms, total=192.5ms [env.py: 1105] +05/11 23:39:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:39:04 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161323m [env.py: 870] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19888162 -1.01949561 -0.16132301] yaw=-35.5deg [env.py: 1019] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.66741908 -0.91480446 -0.16132301] yaw=-63.9deg [env.py: 1019] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:39:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=387.1ms, total=387.2ms [env.py: 1075] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.019, -0.161) [env.py: 1079] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg [env.py: 1082] +05/11 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:39:06 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/11 23:39:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:39:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.318s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:39:08 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128569m [env.py: 870] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26619132 -0.96989643 -0.12856883] yaw=-51.4deg [env.py: 1019] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41453095 -1.0095077 -0.12856883] yaw=-56.4deg [env.py: 1019] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:39:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=488.3ms, total=488.3ms [env.py: 1075] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -0.970, -0.129) [env.py: 1079] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/11 23:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:39:10 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/11 23:39:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/11 23:39:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:39:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:39:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.373s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:39:11 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:39:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100423m [env.py: 870] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38857129 -0.92312472 -0.10042298] yaw=-52.3deg [env.py: 1019] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:39:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=482.1ms, total=482.2ms [env.py: 1075] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -0.923, -0.100) [env.py: 1079] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/11 23:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:39:13 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/11 23:39:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:39:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.515s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:21 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.776[m] 79.026[deg] [grasp_sample.py: 539] +05/11 23:39:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:39:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:39:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:39:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:39:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:39:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 23:39:22 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/11 23:39:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.897s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.498[m] 57.701[deg] [grasp_sample.py: 539] +05/11 23:39:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:39:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:39:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:39:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:39:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.71s (batch: 2.97s, save: 8.75s) [pipeline.py: 300] +05/11 23:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:35 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.41s: + episode_total: mean=66.11s, total=132.21s, count=2, min=203.5ms, max=132006.8ms + sensor_polling: mean=329.0ms, total=89.48s, count=272, min=298.6ms, max=524.1ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8746.4ms, max=8746.4ms + physics_step: mean=21.9ms, total=5.97s, count=272, min=14.7ms, max=32.4ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2967.4ms, max=2967.4ms + task_specific_sample: mean=304.5ms, total=609.0ms, count=2, min=198.4ms, max=410.6ms + task_sampling: mean=413.0ms, total=413.0ms, count=1, min=413.0ms, max=413.0ms + task_sampling_failed: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=0.9ms, max=2.7ms + mj_forward_sync: mean=401.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:39:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122750m [env.py: 870] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27510683 -1.15955757 -0.12274989] yaw=-43.3deg [env.py: 1019] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:39:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=181.8ms, total=181.9ms [env.py: 1075] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.160, -0.123) [env.py: 1079] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/11 23:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:39:37 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/11 23:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 23:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:39:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.427s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.680[m] 96.969[deg] [grasp_sample.py: 539] +05/11 23:39:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.361s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.472[m] 54.510[deg] [grasp_sample.py: 539] +05/11 23:39:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:39:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:39:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:39:44 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145198m [env.py: 870] +05/11 23:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.6ms, total=204.6ms [env.py: 1105] +05/11 23:39:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:39:46 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153733m [env.py: 870] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58680187 -0.73834544 -0.15373327] yaw=-74.9deg [env.py: 1019] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:39:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.1ms, total=230.2ms [env.py: 1075] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.587, -0.738, -0.154) [env.py: 1079] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.9 deg [env.py: 1082] +05/11 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:39:47 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/11 23:39:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 23:39:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.517s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:39:49 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146171m [env.py: 870] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=262.8ms, total=262.9ms [env.py: 1105] +05/11 23:39:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:39:51 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:39:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111019m [env.py: 870] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36708019 -1.14593062 -0.11101861] yaw=-41.6deg [env.py: 1019] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:39:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.4ms [env.py: 1075] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -1.146, -0.111) [env.py: 1079] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg [env.py: 1082] +05/11 23:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:39:52 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 23:39:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:39:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.631s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 90.644[deg] [grasp_sample.py: 539] +05/11 23:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:55 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:39:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:39:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:39:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:39:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:39:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189973m [env.py: 870] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30430578 -1.23791903 -0.1899727 ] yaw=-32.2deg [env.py: 1019] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5924205 -0.94044443 -0.1899727 ] yaw=-69.6deg [env.py: 1019] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44370078 -0.84349957 -0.1899727 ] yaw=-62.3deg [env.py: 1019] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:39:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=166.3ms, total=166.4ms [env.py: 1075] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.238, -0.190) [env.py: 1079] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.2 deg [env.py: 1082] +05/11 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:39:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:39:57 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/11 23:39:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 23:39:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:39:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:39:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:39:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.631s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.472[m] 54.511[deg] [grasp_sample.py: 539] +05/11 23:39:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:39:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.384s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:39:58 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.583[m] 82.562[deg] [grasp_sample.py: 539] +05/11 23:39:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:39:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:40:00 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191988m [env.py: 870] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1105] +05/11 23:40:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:40:01 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112055m [env.py: 870] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.9ms, total=208.0ms [env.py: 1105] +05/11 23:40:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:40:02 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105249m [env.py: 870] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.8ms, total=207.8ms [env.py: 1105] +05/11 23:40:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:40:04 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:40:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176878m [env.py: 870] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4448401 -0.96405562 -0.17687838] yaw=-54.4deg [env.py: 1019] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54213912 -0.94007645 -0.17687838] yaw=-55.8deg [env.py: 1019] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:40:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.8ms [env.py: 1075] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.964, -0.177) [env.py: 1079] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/11 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:40:05 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/11 23:40:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:40:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:40:10 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:40:10 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:40:10 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.88s: + episode_total: mean=32.23s, total=96.70s, count=3, min=196.8ms, max=93189.1ms + sensor_polling: mean=378.2ms, total=31.77s, count=84, min=328.1ms, max=580.9ms + physics_step: mean=19.8ms, total=1.67s, count=84, min=13.3ms, max=29.4ms + task_specific_sample: mean=356.0ms, total=1.07s, count=3, min=190.9ms, max=438.9ms + task_sampling: mean=440.9ms, total=881.8ms, count=2, min=440.3ms, max=441.5ms + task_sampling_failed: mean=196.8ms, total=196.8ms, count=1, min=196.8ms, max=196.8ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=409.5us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=19.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.633s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:40:11 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.721[m] 87.795[deg] [grasp_sample.py: 539] +05/11 23:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157140m [env.py: 870] +05/11 23:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.8ms, total=216.8ms [env.py: 1105] +05/11 23:40:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:40:12 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/11 23:40:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127746m [env.py: 870] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58645768 -0.74461415 -0.12774615] yaw=-64.6deg [env.py: 1019] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15994941 -0.96708736 -0.12774615] yaw=-41.9deg [env.py: 1019] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:40:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=438.9ms, total=438.9ms [env.py: 1075] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.745, -0.128) [env.py: 1079] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/11 23:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174161m [env.py: 870] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39997777 -1.08994005 -0.17416055] yaw=-58.4deg [env.py: 1019] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:40:14 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51007585 -0.88953116 -0.17416055] yaw=-58.0deg [env.py: 1019] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:40:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.1ms, total=207.1ms [env.py: 1075] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.090, -0.174) [env.py: 1079] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg [env.py: 1082] +05/11 23:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:40:14 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/11 23:40:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 23:40:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.572s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:40:16 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115123m [env.py: 870] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16092948 -1.03296076 -0.11512295] yaw=-38.0deg [env.py: 1019] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:40:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.4ms [env.py: 1075] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.161, -1.033, -0.115) [env.py: 1079] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/11 23:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.865s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:40:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.636[m] 94.441[deg] [grasp_sample.py: 539] +05/11 23:40:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:40:17 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/11 23:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:40:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:40:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:40:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:40:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:40:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:40:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:40:19 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184222m [env.py: 870] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.2ms, total=197.3ms [env.py: 1105] +05/11 23:40:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:40:20 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:40:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113568m [env.py: 870] +05/11 23:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46773052 -0.78452032 -0.11356776] yaw=-57.2deg [env.py: 1019] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64750355 -0.85240818 -0.11356776] yaw=-68.6deg [env.py: 1019] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:40:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms [env.py: 1075] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.785, -0.114) [env.py: 1079] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/11 23:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/11 23:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:40:22 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/11 23:40:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:40:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.303s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:40:23 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:40:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.007s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:40:23 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.202[m] 16.201[deg] [grasp_sample.py: 539] +05/11 23:40:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:40:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:40:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:40:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:40:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:40:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:40:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:40:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:40:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184890m [env.py: 870] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:40:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34862923 -1.03601393 -0.18489038] yaw=-40.2deg [env.py: 1019] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:40:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.1ms [env.py: 1075] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -1.036, -0.185) [env.py: 1079] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/11 23:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:40:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:40:25 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/11 23:40:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:40:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:40:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.709[m] 82.920[deg] [grasp_sample.py: 539] +05/11 23:40:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:40:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:40:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:40:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:40:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:37 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.996s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:40:41 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.197[m] 15.753[deg] [grasp_sample.py: 539] +05/11 23:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:40:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:40:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:40:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:40:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:40:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.444[m] 60.075[deg] [grasp_sample.py: 539] +05/11 23:40:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:40:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:40:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:40:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:40:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:40:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:40:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:40:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:40:55 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/11 23:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.807s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:40:58 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.197[m] 15.752[deg] [grasp_sample.py: 539] +05/11 23:40:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:40:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:40:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:41:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:41:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.405s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.444[m] 60.076[deg] [grasp_sample.py: 539] +05/11 23:41:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:41:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:41:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:41:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.70s (batch: 3.00s, save: 8.70s) [pipeline.py: 300] +05/11 23:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:08 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.40s: + episode_total: mean=137.43s, total=137.43s, count=1, min=137429.0ms, max=137429.0ms + sensor_polling: mean=354.4ms, total=96.74s, count=273, min=298.7ms, max=754.4ms + save_trajectories: mean=8.70s, total=8.70s, count=1, min=8702.4ms, max=8702.4ms + physics_step: mean=22.3ms, total=6.08s, count=273, min=14.6ms, max=104.6ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2999.5ms, max=2999.5ms + task_sampling: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms + task_specific_sample: mean=394.5ms, total=394.5ms, count=1, min=394.5ms, max=394.5ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=381.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:41:09 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:41:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177531m [env.py: 870] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1450064 -1.12373091 -0.17753122] yaw=-47.0deg [env.py: 1019] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:09 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:41:09 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=4.87s: + episode_total: mean=26.34s, total=342.40s, count=13, min=200.1ms, max=116255.7ms + sensor_polling: mean=354.0ms, total=186.91s, count=528, min=289.5ms, max=625.9ms + physics_step: mean=21.8ms, total=11.49s, count=528, min=13.1ms, max=91.1ms + task_specific_sample: mean=443.2ms, total=5.76s, count=13, min=197.2ms, max=716.2ms + task_sampling: mean=540.6ms, total=4.87s, count=9, min=401.7ms, max=718.6ms + task_sampling_failed: mean=236.3ms, total=945.3ms, count=4, min=200.1ms, max=318.9ms + scene_randomize: mean=1.1ms, total=14.5ms, count=13, min=1.0ms, max=1.5ms + mj_forward_sync: mean=474.0us, total=6.2ms, count=13, min=0.4ms, max=0.6ms + policy_setup: mean=11.9us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=197.9ms, total=198.0ms [env.py: 1075] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.124, -0.178) [env.py: 1079] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/11 23:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:09 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136389m [env.py: 870] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23135286 -1.03956873 -0.13638872] yaw=-49.4deg [env.py: 1019] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=219.0ms, total=219.0ms [env.py: 1075] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.040, -0.136) [env.py: 1079] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/11 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:11 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.574s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:11 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.743[m] 85.964[deg] [grasp_sample.py: 539] +05/11 23:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:12 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:41:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:12 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.752[m] 87.654[deg] [grasp_sample.py: 539] +05/11 23:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:13 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:41:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189035m [env.py: 870] +05/11 23:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.2ms, total=186.3ms [env.py: 1105] +05/11 23:41:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:41:14 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136660m [env.py: 870] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173052m [env.py: 870] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=308.6ms, total=308.6ms [env.py: 1105] +05/11 23:41:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:41:15 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39183266 -0.8851079 -0.1730522 ] yaw=-57.2deg [env.py: 1019] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=362.2ms, total=362.2ms [env.py: 1075] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.885, -0.173) [env.py: 1079] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/11 23:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:16 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179295m [env.py: 870] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65362411 -0.90169914 -0.17929545] yaw=-66.6deg [env.py: 1019] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32907461 -0.99975792 -0.17929545] yaw=-39.2deg [env.py: 1019] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.1ms, total=240.1ms [env.py: 1075] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.654, -0.902, -0.179) [env.py: 1079] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/11 23:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/11 23:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:17 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.754[m] 96.188[deg] [grasp_sample.py: 539] +05/11 23:41:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.460s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.683[m] 85.917[deg] [grasp_sample.py: 539] +05/11 23:41:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:41:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:41:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:41:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:41:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:19 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:41:19 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/11 23:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.444[m] 60.076[deg] [grasp_sample.py: 539] +05/11 23:41:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:41:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196425m [env.py: 870] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35414217 -1.11775211 -0.19642528] yaw=-38.4deg [env.py: 1019] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.2ms, total=207.2ms [env.py: 1075] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -1.118, -0.196) [env.py: 1079] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.4 deg [env.py: 1082] +05/11 23:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:41:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:20 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.471s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.639[m] 81.398[deg] [grasp_sample.py: 539] +05/11 23:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:41:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:41:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:41:31 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:41:31 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:41:31 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=2.52s: + episode_total: mean=9.34s, total=102.77s, count=11, min=208.1ms, max=77809.2ms + sensor_polling: mean=388.2ms, total=31.84s, count=82, min=303.3ms, max=621.2ms + task_specific_sample: mean=328.2ms, total=3.61s, count=11, min=205.4ms, max=488.7ms + task_sampling: mean=419.3ms, total=2.52s, count=6, min=369.5ms, max=490.8ms + physics_step: mean=21.2ms, total=1.74s, count=82, min=13.1ms, max=28.1ms + task_sampling_failed: mean=224.8ms, total=1.12s, count=5, min=208.1ms, max=272.6ms + scene_randomize: mean=1.1ms, total=12.1ms, count=11, min=0.9ms, max=2.2ms + mj_forward_sync: mean=413.1us, total=4.5ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=14.6us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:41:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121864m [env.py: 870] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59881237 -0.71008026 -0.12186373] yaw=-61.2deg [env.py: 1019] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.8ms [env.py: 1075] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.710, -0.122) [env.py: 1079] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/11 23:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:33 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.281s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:41:35 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:41:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127143m [env.py: 870] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43467585 -0.95224894 -0.12714342] yaw=-46.3deg [env.py: 1019] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms [env.py: 1075] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -0.952, -0.127) [env.py: 1079] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/11 23:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:36 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.334s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.705[m] 83.253[deg] [grasp_sample.py: 539] +05/11 23:41:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:39 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:41:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:41:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140470m [env.py: 870] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35670744 -0.95297769 -0.14046959] yaw=-41.8deg [env.py: 1019] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40462638 -1.11936741 -0.14046959] yaw=-52.6deg [env.py: 1019] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=221.7ms, total=221.7ms [env.py: 1075] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -0.953, -0.140) [env.py: 1079] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/11 23:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:41:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:41:40 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/11 23:41:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:41:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.801[m] 83.698[deg] [grasp_sample.py: 539] +05/11 23:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:41:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:41:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:41:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:41:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.282s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.507[m] 58.948[deg] [grasp_sample.py: 539] +05/11 23:41:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:41:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:41:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:41:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:41:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:41:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:41:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:41:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:41:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:41:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.604s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:41:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.502[m] 58.297[deg] [grasp_sample.py: 539] +05/11 23:42:00 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:42:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:42:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:42:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:42:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:42:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:42:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150178m [env.py: 870] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:42:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5133508 -0.97056758 -0.15017812] yaw=-60.7deg [env.py: 1019] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:42:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.8ms [env.py: 1075] +05/11 23:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.971, -0.150) [env.py: 1079] +05/11 23:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/11 23:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/11 23:42:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:42:02 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/11 23:42:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:42:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:42:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:42:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:42:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.625s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:42:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.694[m] 76.927[deg] [grasp_sample.py: 539] +05/11 23:42:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:42:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:42:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:42:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:42:17 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:42:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:42:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:42:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:42:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:42:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:42:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:42:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:42:37 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/11 23:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.717s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:42:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.491[m] 50.798[deg] [grasp_sample.py: 539] +05/11 23:42:38 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:42:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:42:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:42:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141535m [env.py: 870] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37035589 -1.10717267 -0.14153486] yaw=-47.6deg [env.py: 1019] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:42:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=301.3ms, total=301.4ms [env.py: 1075] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.107, -0.142) [env.py: 1079] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/11 23:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:42:39 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/11 23:42:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:42:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:42:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:42:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:42:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.549s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:42:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.664[m] 93.906[deg] [grasp_sample.py: 539] +05/11 23:42:41 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:42:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113585m [env.py: 870] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.65618918 -0.93809144 -0.11358481] yaw=-70.1deg [env.py: 1019] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38591688 -0.97073899 -0.11358481] yaw=-53.4deg [env.py: 1019] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:42:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=391.7ms, total=391.8ms [env.py: 1075] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.656, -0.938, -0.114) [env.py: 1079] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg [env.py: 1082] +05/11 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:42:43 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/11 23:42:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/11 23:42:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:42:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:42:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:42:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.074s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:42:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 88.089[deg] [grasp_sample.py: 539] +05/11 23:42:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:42:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:42:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:42:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:42:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.96s (batch: 4.17s, save: 10.79s) [pipeline.py: 300] +05/11 23:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:52 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.86s: + episode_total: mean=25.71s, total=154.25s, count=6, min=205.9ms, max=147575.8ms + sensor_polling: mean=369.8ms, total=102.44s, count=277, min=308.7ms, max=627.9ms + save_trajectories: mean=10.79s, total=10.79s, count=1, min=10786.9ms, max=10786.9ms + physics_step: mean=22.4ms, total=6.22s, count=277, min=16.0ms, max=131.2ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4174.7ms, max=4174.7ms + task_specific_sample: mean=379.6ms, total=2.28s, count=6, min=202.2ms, max=708.0ms + task_sampling: mean=465.9ms, total=1.86s, count=4, min=348.2ms, max=710.8ms + task_sampling_failed: mean=215.2ms, total=430.5ms, count=2, min=205.8ms, max=224.6ms + scene_randomize: mean=1.2ms, total=7.0ms, count=6, min=1.0ms, max=1.6ms + mj_forward_sync: mean=423.7us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:42:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:42:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:42:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:42:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:42:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174776m [env.py: 870] +05/11 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:42:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.62370191 -0.89813124 -0.17477575] yaw=-73.6deg [env.py: 1019] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63222697 -0.82621713 -0.17477575] yaw=-71.6deg [env.py: 1019] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:42:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=349.9ms, total=349.9ms [env.py: 1075] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.898, -0.175) [env.py: 1079] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg [env.py: 1082] +05/11 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/11 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:42:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:42:54 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/11 23:42:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 23:42:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:42:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:42:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.558s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:42:56 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.627[m] 88.899[deg] [grasp_sample.py: 539] +05/11 23:42:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:42:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:42:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:43:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:43:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:43:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:43:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 360 non-colliding grasps [grasp_sample.py: 465] +05/11 23:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:43:02 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.047[m] 0.556[deg] [grasp_sample.py: 539] +05/11 23:43:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:43:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:43:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:08 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:43:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:43:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:43:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:43:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:43:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:43:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.246s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:43:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.535[m] 64.430[deg] [grasp_sample.py: 539] +05/11 23:43:12 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:43:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:43:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:43:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:43:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:43:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:43:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:43:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104394m [env.py: 870] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:43:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=281.4ms, total=281.5ms [env.py: 1105] +05/11 23:43:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:43:13 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:43:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:43:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:43:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:43:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:43:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:43:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:43:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115338m [env.py: 870] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:43:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=206.7ms, total=206.7ms [env.py: 1105] +05/11 23:43:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:43:15 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:43:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:43:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:43:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:43:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:43:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:43:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:43:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139462m [env.py: 870] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:43:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28873943 -1.0048558 -0.13946201] yaw=-46.8deg [env.py: 1019] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26701478 -1.19765123 -0.13946201] yaw=-41.3deg [env.py: 1019] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:43:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=583.2ms, total=583.2ms [env.py: 1075] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.005, -0.139) [env.py: 1079] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg [env.py: 1082] +05/11 23:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:43:17 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/11 23:43:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:43:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:43:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:43:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:43:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.673s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:43:24 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.742[m] 79.687[deg] [grasp_sample.py: 539] +05/11 23:43:26 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:43:27 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:43:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:43:27 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/11 23:43:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:43:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:43:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:43:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:43:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:43:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199403m [env.py: 870] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:43:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29336042 -0.90185697 -0.19940347] yaw=-60.6deg [env.py: 1019] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41148473 -0.81481918 -0.19940347] yaw=-53.8deg [env.py: 1019] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57753707 -0.93804464 -0.19940347] yaw=-70.8deg [env.py: 1019] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:43:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms [env.py: 1075] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.902, -0.199) [env.py: 1079] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg [env.py: 1082] +05/11 23:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:43:27 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/11 23:43:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:43:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:43:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:43:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:43:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.311s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:43:29 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:43:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:43:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:43:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:43:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:43:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:43:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158550m [env.py: 870] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:43:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57578734 -0.86520697 -0.1585504 ] yaw=-66.2deg [env.py: 1019] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:43:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.0ms, total=199.1ms [env.py: 1075] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.865, -0.159) [env.py: 1079] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/11 23:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:43:31 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/11 23:43:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:43:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:43:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:43:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:43:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.504s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:43:34 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.741[m] 89.777[deg] [grasp_sample.py: 539] +05/11 23:43:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:43:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:43:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:43:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:43:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:43:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:43:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.86s (batch: 3.22s, save: 8.64s) [pipeline.py: 300] +05/11 23:43:39 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=1.43s: + episode_total: mean=36.54s, total=146.14s, count=4, min=194.9ms, max=139029.6ms + sensor_polling: mean=369.1ms, total=97.45s, count=264, min=300.5ms, max=803.4ms + save_trajectories: mean=8.64s, total=8.64s, count=1, min=8639.6ms, max=8639.6ms + physics_step: mean=23.7ms, total=6.25s, count=264, min=19.5ms, max=59.0ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3221.4ms, max=3221.4ms + task_specific_sample: mean=402.2ms, total=1.61s, count=4, min=191.1ms, max=597.5ms + task_sampling: mean=475.4ms, total=1.43s, count=3, min=409.9ms, max=600.1ms + task_sampling_failed: mean=194.8ms, total=194.8ms, count=1, min=194.8ms, max=194.8ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=0.9ms, max=2.3ms + mj_forward_sync: mean=439.3us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:43:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:43:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:43:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:43:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:43:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:43:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146824m [env.py: 870] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:43:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38409259 -1.11627907 -0.14682405] yaw=-47.8deg [env.py: 1019] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:43:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.7ms [env.py: 1075] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.116, -0.147) [env.py: 1079] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/11 23:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:43:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:43:41 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/11 23:43:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 23:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:43:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:43:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:43:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.450s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:43:42 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.664[m] 81.032[deg] [grasp_sample.py: 539] +05/11 23:43:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:43:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:43:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:43:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:43:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:43:52 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:43:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:44:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:44:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:44:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:44:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:44:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 339 non-colliding grasps [grasp_sample.py: 465] +05/11 23:44:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.041s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:44:13 INFO: [Worker 0] Feasible grasp found 437 (originally 437): w/ 0.108[m] 5.380[deg] [grasp_sample.py: 539] +05/11 23:44:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:44:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:44:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 23:44:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 23:44:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:44:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:44:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:44:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:44:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:44:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:44:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:44:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.30s (batch: 3.62s, save: 9.68s) [pipeline.py: 300] +05/11 23:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.972s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:44:27 INFO: [Worker 0] Feasible grasp found 24 (originally 24): w/ 0.123[m] 9.513[deg] [grasp_sample.py: 539] +05/11 23:44:27 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=1.28s: + episode_total: mean=57.25s, total=171.74s, count=3, min=1870.3ms, max=166928.6ms + sensor_polling: mean=360.7ms, total=108.21s, count=300, min=299.1ms, max=624.7ms + save_trajectories: mean=9.68s, total=9.68s, count=1, min=9679.0ms, max=9679.0ms + physics_step: mean=24.2ms, total=7.25s, count=300, min=15.0ms, max=76.1ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.4ms, max=3624.4ms + task_sampling: mean=425.7ms, total=1.28s, count=3, min=412.6ms, max=442.2ms + task_specific_sample: mean=423.3ms, total=1.27s, count=3, min=409.9ms, max=439.9ms + scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=1.0ms, max=1.1ms + mj_forward_sync: mean=401.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:44:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:44:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:44:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:44:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:44:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:44:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:44:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:44:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:44:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188835m [env.py: 870] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:44:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.6ms, total=204.7ms [env.py: 1105] +05/11 23:44:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:44:28 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:44:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:44:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:44:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:44:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:44:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:44:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:44:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167003m [env.py: 870] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:44:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4376024 -1.10402653 -0.16700347] yaw=-42.2deg [env.py: 1019] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=243.8ms, total=243.9ms [env.py: 1075] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.104, -0.167) [env.py: 1079] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/11 23:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:44:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:44:30 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/11 23:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 23:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:44:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:44:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:44:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:44:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:44:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:44:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.639s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:44:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.637[m] 75.884[deg] [grasp_sample.py: 539] +05/11 23:44:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.579s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:44:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.138[m] 20.377[deg] [grasp_sample.py: 539] +05/11 23:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:44:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:44:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:32 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:44:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:44:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:44:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:44:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:44:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:44:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:44:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198987m [env.py: 870] +05/11 23:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:44:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.3ms, total=210.4ms [env.py: 1105] +05/11 23:44:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:44:34 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:44:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:44:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:44:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:44:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:44:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:44:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:44:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:44:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:44:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164954m [env.py: 870] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:44:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29247639 -1.13926582 -0.1649545 ] yaw=-31.8deg [env.py: 1019] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:44:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.8ms, total=209.9ms [env.py: 1075] +05/11 23:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.292, -1.139, -0.165) [env.py: 1079] +05/11 23:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg [env.py: 1082] +05/11 23:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/11 23:44:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:44:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:44:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:44:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:44:36 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/11 23:44:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:44:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:44:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:44:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:44:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.951s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:44:41 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.678[m] 82.125[deg] [grasp_sample.py: 539] +05/11 23:44:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:44:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:44:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:44:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:44:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:44:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:44:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:44:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:44:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.837s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:44:58 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.133[m] 15.958[deg] [grasp_sample.py: 539] +05/11 23:44:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:44:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:44:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:45:18 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:45:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:45:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:45:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:35 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:45:36 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:45:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:45:36 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/11 23:45:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:45:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:45:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:45:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.21s (batch: 3.31s, save: 8.89s) [pipeline.py: 300] +05/11 23:45:48 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.46s: + episode_total: mean=128.30s, total=128.30s, count=1, min=128300.3ms, max=128300.3ms + sensor_polling: mean=328.2ms, total=87.64s, count=267, min=302.2ms, max=567.1ms + save_trajectories: mean=8.89s, total=8.89s, count=1, min=8894.0ms, max=8894.0ms + physics_step: mean=21.4ms, total=5.71s, count=267, min=14.6ms, max=32.7ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3311.8ms, max=3311.8ms + task_sampling: mean=457.3ms, total=457.3ms, count=1, min=457.3ms, max=457.3ms + task_specific_sample: mean=453.7ms, total=453.7ms, count=1, min=453.7ms, max=453.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=432.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:45:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:45:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:45:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:45:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:45:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:45:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:45:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121934m [env.py: 870] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:45:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5300373 -0.95590233 -0.12193411] yaw=-67.5deg [env.py: 1019] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36435535 -1.12753592 -0.12193411] yaw=-45.2deg [env.py: 1019] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:45:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.3ms, total=218.4ms [env.py: 1075] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.956, -0.122) [env.py: 1079] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/11 23:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:45:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:45:50 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/11 23:45:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 23:45:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:45:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:45:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:45:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:45:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:45:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 23:45:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.375s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:45:56 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.733[m] 80.924[deg] [grasp_sample.py: 539] +05/11 23:45:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:45:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:45:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:45:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:46:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:46:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:46:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.49s (batch: 4.32s, save: 13.16s) [pipeline.py: 300] +05/11 23:46:13 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.56s: + episode_total: mean=199.73s, total=199.73s, count=1, min=199731.5ms, max=199731.5ms + sensor_polling: mean=384.3ms, total=115.28s, count=300, min=317.3ms, max=600.0ms + save_trajectories: mean=13.16s, total=13.16s, count=1, min=13163.8ms, max=13163.8ms + physics_step: mean=22.8ms, total=6.84s, count=300, min=14.8ms, max=61.6ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.9ms, max=4321.9ms + task_sampling: mean=561.1ms, total=561.1ms, count=1, min=561.1ms, max=561.1ms + task_specific_sample: mean=557.3ms, total=557.3ms, count=1, min=557.3ms, max=557.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=442.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:46:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115101m [env.py: 870] +05/11 23:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23402211 -1.04065828 -0.11510057] yaw=-51.2deg [env.py: 1019] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=983.3ms, total=983.3ms [env.py: 1075] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -1.041, -0.115) [env.py: 1079] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/11 23:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/11 23:46:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:16 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:16 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:46:20 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:46:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.451s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:46:23 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 23:46:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107972m [env.py: 870] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10514659 -1.05425029 -0.10797159] yaw=-40.2deg [env.py: 1019] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.6ms [env.py: 1075] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.105, -1.054, -0.108) [env.py: 1079] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/11 23:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:25 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.664s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:46:27 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:46:27 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/11 23:46:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192232m [env.py: 870] +05/11 23:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3916603 -0.95656836 -0.19223188] yaw=-45.0deg [env.py: 1019] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14354599 -1.11180166 -0.19223188] yaw=-26.7deg [env.py: 1019] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.8ms, total=237.9ms [env.py: 1075] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.957, -0.192) [env.py: 1079] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg [env.py: 1082] +05/11 23:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/11 23:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:29 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.884s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:46:32 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.693[m] 82.324[deg] [grasp_sample.py: 539] +05/11 23:46:33 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122101m [env.py: 870] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27449419 -1.1769939 -0.12210086] yaw=-30.2deg [env.py: 1019] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37581337 -1.17321449 -0.12210086] yaw=-40.2deg [env.py: 1019] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms [env.py: 1075] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.177, -0.122) [env.py: 1079] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.2 deg [env.py: 1082] +05/11 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:35 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:46:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 23:46:35 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/11 23:46:39 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:46:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:46:39 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/11 23:46:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.758s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:46:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.717[m] 92.723[deg] [grasp_sample.py: 539] +05/11 23:46:40 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:46:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142373m [env.py: 870] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51104362 -0.84596351 -0.14237334] yaw=-53.5deg [env.py: 1019] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1075] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -0.846, -0.142) [env.py: 1079] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/11 23:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:41 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:46:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:46:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.97s (batch: 3.45s, save: 8.52s) [pipeline.py: 300] +05/11 23:46:48 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.45s: + episode_total: mean=69.22s, total=138.44s, count=2, min=217.3ms, max=138218.0ms + sensor_polling: mean=348.6ms, total=91.69s, count=263, min=295.7ms, max=717.4ms + save_trajectories: mean=8.52s, total=8.52s, count=1, min=8520.3ms, max=8520.3ms + physics_step: mean=23.1ms, total=6.08s, count=263, min=14.7ms, max=57.0ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3449.3ms, max=3449.3ms + task_specific_sample: mean=331.6ms, total=663.1ms, count=2, min=211.0ms, max=452.1ms + task_sampling: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms + task_sampling_failed: mean=217.2ms, total=217.2ms, count=1, min=217.2ms, max=217.2ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=0.9ms, max=2.6ms + mj_forward_sync: mean=376.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139837m [env.py: 870] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.3ms, total=215.3ms [env.py: 1105] +05/11 23:46:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:46:49 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:46:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:46:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.78s (batch: 3.04s, save: 8.73s) [pipeline.py: 300] +05/11 23:46:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153276m [env.py: 870] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3370654 -1.1929252 -0.15327647] yaw=-42.5deg [env.py: 1019] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.7ms, total=170.7ms [env.py: 1075] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.193, -0.153) [env.py: 1079] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/11 23:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:51 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=4.51s: + episode_total: mean=24.93s, total=324.09s, count=13, min=216.6ms, max=135632.4ms + sensor_polling: mean=337.5ms, total=193.70s, count=574, min=297.6ms, max=603.5ms + physics_step: mean=21.5ms, total=12.33s, count=574, min=14.5ms, max=47.0ms + save_trajectories: mean=8.73s, total=8.73s, count=1, min=8733.1ms, max=8733.1ms + task_specific_sample: mean=424.6ms, total=5.52s, count=13, min=213.2ms, max=863.1ms + task_sampling: mean=501.4ms, total=4.51s, count=9, min=346.8ms, max=865.9ms + save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3042.2ms, max=3042.2ms + task_sampling_failed: mean=260.3ms, total=1.04s, count=4, min=216.6ms, max=316.6ms + scene_randomize: mean=1.1ms, total=14.3ms, count=13, min=0.9ms, max=1.6ms + mj_forward_sync: mean=440.4us, total=5.7ms, count=13, min=0.4ms, max=0.6ms + policy_setup: mean=13.1us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:46:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:51 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182779m [env.py: 870] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.4ms, total=213.4ms [env.py: 1105] +05/11 23:46:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:46:52 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:46:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.647[m] 90.741[deg] [grasp_sample.py: 539] +05/11 23:46:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151391m [env.py: 870] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44456921 -0.77815847 -0.15139127] yaw=-71.1deg [env.py: 1019] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.6ms, total=193.6ms [env.py: 1075] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.778, -0.151) [env.py: 1079] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/11 23:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:54 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:46:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:46:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:46:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:46:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:46:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.856s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:46:54 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.739[m] 85.426[deg] [grasp_sample.py: 539] +05/11 23:46:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:46:55 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.193[m] 17.272[deg] [grasp_sample.py: 539] +05/11 23:46:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:46:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:46:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:46:56 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:46:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:46:56 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:46:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145443m [env.py: 870] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181403m [env.py: 870] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44797604 -0.86819027 -0.14544284] yaw=-48.8deg [env.py: 1019] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=298.9ms, total=298.9ms [env.py: 1105] +05/11 23:46:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:46:57 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=358.0ms, total=358.0ms [env.py: 1075] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -0.868, -0.145) [env.py: 1079] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg [env.py: 1082] +05/11 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:46:57 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/11 23:46:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/11 23:46:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:46:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:46:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:46:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:46:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:46:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:46:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:46:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:46:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107472m [env.py: 870] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:46:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.4ms, total=196.5ms [env.py: 1105] +05/11 23:46:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:46:59 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:47:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:47:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:47:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:47:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:47:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:47:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:47:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140265m [env.py: 870] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:47:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24738137 -1.0569621 -0.14026507] yaw=-33.3deg [env.py: 1019] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:47:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.2ms, total=205.3ms [env.py: 1075] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -1.057, -0.140) [env.py: 1079] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/11 23:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:47:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:47:00 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/11 23:47:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:47:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:47:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:47:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:47:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.550s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:47:02 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.745[m] 79.404[deg] [grasp_sample.py: 539] +05/11 23:47:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:47:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:47:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:47:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:47:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:47:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:47:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.157s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:47:21 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.189[m] 11.754[deg] [grasp_sample.py: 539] +05/11 23:47:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.750s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:47:21 INFO: [Worker 0] Feasible grasp found 497 (originally 497): w/ 0.725[m] 86.851[deg] [grasp_sample.py: 539] +05/11 23:47:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:47:22 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:47:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:47:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:47:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:47:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:47:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:47:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:47:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:47:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:47:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142007m [env.py: 870] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:47:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29907204 -1.24143692 -0.14200672] yaw=-28.3deg [env.py: 1019] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29091621 -0.90209519 -0.14200672] yaw=-50.6deg [env.py: 1019] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:47:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=293.7ms, total=293.8ms [env.py: 1075] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -1.241, -0.142) [env.py: 1079] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.3 deg [env.py: 1082] +05/11 23:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:47:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:47:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:47:23 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/11 23:47:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 23:47:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:47:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:47:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:47:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.400s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:47:25 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.641[m] 83.909[deg] [grasp_sample.py: 539] +05/11 23:47:26 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:47:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:47:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:47:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:47:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:47:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:47:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:47:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120121m [env.py: 870] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:47:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32019676 -0.97814056 -0.12012065] yaw=-40.3deg [env.py: 1019] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:47:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -0.978, -0.120) [env.py: 1079] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/11 23:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:47:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:47:28 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/11 23:47:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 23:47:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:47:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:47:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:47:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.791s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:47:32 INFO: [Worker 0] Feasible grasp found 497 (originally 497): w/ 0.760[m] 92.330[deg] [grasp_sample.py: 539] +05/11 23:47:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:47:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:47:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:47:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:47:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:47:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:47:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:48:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:48:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:48:38 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:48:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:48:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:48:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:48:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:48:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.191s, found 304 non-colliding grasps [grasp_sample.py: 465] +05/11 23:48:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.323s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:48:42 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.036[m] 2.186[deg] [grasp_sample.py: 539] +05/11 23:48:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:48:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:48:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:48:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:48:57 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:48:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:48:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 23:48:58 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/11 23:49:03 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:49:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:49:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:49:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.40s (batch: 3.49s, save: 8.91s) [pipeline.py: 300] +05/11 23:49:11 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.38s: + episode_total: mean=70.51s, total=141.01s, count=2, min=225.2ms, max=140788.8ms + sensor_polling: mean=359.8ms, total=96.06s, count=267, min=298.4ms, max=769.5ms + save_trajectories: mean=8.91s, total=8.91s, count=1, min=8908.3ms, max=8908.3ms + physics_step: mean=24.0ms, total=6.40s, count=267, min=19.5ms, max=40.2ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3489.6ms, max=3489.6ms + task_specific_sample: mean=299.0ms, total=598.1ms, count=2, min=220.8ms, max=377.2ms + task_sampling: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms + task_sampling_failed: mean=225.2ms, total=225.2ms, count=1, min=225.2ms, max=225.2ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=0.9ms, max=2.2ms + mj_forward_sync: mean=353.2us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:49:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115550m [env.py: 870] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53361194 -0.73940143 -0.11554955] yaw=-74.9deg [env.py: 1019] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65870339 -0.93342972 -0.11554955] yaw=-58.7deg [env.py: 1019] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61974915 -0.96089047 -0.11554955] yaw=-68.1deg [env.py: 1019] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:49:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.3ms, total=327.4ms [env.py: 1075] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.739, -0.116) [env.py: 1079] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.9 deg [env.py: 1082] +05/11 23:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:49:13 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/11 23:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 23:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:49:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:49:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:49:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.643s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:49:15 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:49:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109962m [env.py: 870] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54370582 -0.9607647 -0.10996246] yaw=-64.7deg [env.py: 1019] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.9ms [env.py: 1075] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -0.961, -0.110) [env.py: 1079] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/11 23:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:49:17 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/11 23:49:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 23:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:49:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:49:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:49:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:49:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:49:18 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/11 23:49:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.440s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:49:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.689[m] 86.975[deg] [grasp_sample.py: 539] +05/11 23:49:19 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:49:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194273m [env.py: 870] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.4ms, total=215.4ms [env.py: 1105] +05/11 23:49:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:49:21 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:49:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132550m [env.py: 870] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:49:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:49:22 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5990139 -0.88225264 -0.13254961] yaw=-71.7deg [env.py: 1019] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:49:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.6ms [env.py: 1075] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.882, -0.133) [env.py: 1079] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.7 deg [env.py: 1082] +05/11 23:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:49:23 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/11 23:49:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:49:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:49:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:49:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:49:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.583s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:49:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.698[m] 93.760[deg] [grasp_sample.py: 539] +05/11 23:49:25 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:49:26 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:49:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186337m [env.py: 870] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33054292 -0.97948675 -0.1863369 ] yaw=-50.4deg [env.py: 1019] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:49:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.1ms, total=169.1ms [env.py: 1075] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.979, -0.186) [env.py: 1079] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/11 23:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:49:27 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/11 23:49:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:49:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:49:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:49:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:49:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.456s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:49:29 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.765[m] 91.364[deg] [grasp_sample.py: 539] +05/11 23:49:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:49:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:49:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:49:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:49:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:49:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:49:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.38s (batch: 3.58s, save: 9.80s) [pipeline.py: 300] +05/11 23:49:32 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=3.49s: + episode_total: mean=23.51s, total=188.11s, count=8, min=204.5ms, max=151530.4ms + sensor_polling: mean=374.3ms, total=106.30s, count=284, min=320.9ms, max=669.3ms + save_trajectories: mean=9.80s, total=9.80s, count=1, min=9802.6ms, max=9802.6ms + physics_step: mean=22.0ms, total=6.26s, count=284, min=14.7ms, max=36.1ms + task_specific_sample: mean=497.5ms, total=3.98s, count=8, min=201.7ms, max=1343.7ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3575.4ms, max=3575.4ms + task_sampling: mean=581.7ms, total=3.49s, count=6, min=398.8ms, max=1347.1ms + task_sampling_failed: mean=255.7ms, total=511.5ms, count=2, min=204.5ms, max=306.9ms + scene_randomize: mean=1.2ms, total=9.7ms, count=8, min=0.9ms, max=2.0ms + mj_forward_sync: mean=412.3us, total=3.3ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:49:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111686m [env.py: 870] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=229.7ms, total=229.8ms [env.py: 1105] +05/11 23:49:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:49:33 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:49:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129957m [env.py: 870] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28936128 -1.13592511 -0.12995727] yaw=-35.8deg [env.py: 1019] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:49:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/11 23:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.136, -0.130) [env.py: 1079] +05/11 23:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.8 deg [env.py: 1082] +05/11 23:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/11 23:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:49:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:49:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.39s (batch: 3.34s, save: 9.05s) [pipeline.py: 300] +05/11 23:49:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:49:35 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/11 23:49:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 23:49:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:49:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:49:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:49:35 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.97s: + episode_total: mean=53.54s, total=160.62s, count=3, min=222.6ms, max=158340.5ms + sensor_polling: mean=332.3ms, total=92.72s, count=279, min=309.4ms, max=613.1ms + save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.6ms, max=9050.6ms + physics_step: mean=21.7ms, total=6.04s, count=279, min=15.3ms, max=34.1ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3337.4ms, max=3337.4ms + task_specific_sample: mean=395.7ms, total=1.19s, count=3, min=218.8ms, max=555.5ms + task_sampling: mean=486.6ms, total=973.2ms, count=2, min=415.5ms, max=557.7ms + task_sampling_failed: mean=222.6ms, total=222.6ms, count=1, min=222.6ms, max=222.6ms + scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.8ms + mj_forward_sync: mean=407.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:49:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120049m [env.py: 870] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3096748 -1.10948028 -0.12004948] yaw=-50.1deg [env.py: 1019] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42990082 -0.78034769 -0.12004948] yaw=-57.8deg [env.py: 1019] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:49:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1075] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.109, -0.120) [env.py: 1079] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/11 23:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:49:37 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/11 23:49:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 23:49:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:49:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:49:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:49:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.727[m] 98.601[deg] [grasp_sample.py: 539] +05/11 23:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:49:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:49:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:49:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:49:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.138s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:49:42 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.662[m] 77.121[deg] [grasp_sample.py: 539] +05/11 23:49:43 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:49:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:49:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:49:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:49:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197155m [env.py: 870] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41208593 -1.08600696 -0.19715537] yaw=-40.3deg [env.py: 1019] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23818158 -0.99766357 -0.19715537] yaw=-48.6deg [env.py: 1019] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:49:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=432.8ms, total=432.8ms [env.py: 1075] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -1.086, -0.197) [env.py: 1079] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/11 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:49:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:49:45 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/11 23:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/11 23:49:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:49:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:49:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:49:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.536s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:49:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 92.882[deg] [grasp_sample.py: 539] +05/11 23:49:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:49:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:49:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:49:47 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:49:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:49:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 23:49:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:50:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:50:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:50:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.65s (batch: 4.29s, save: 11.37s) [pipeline.py: 300] +05/11 23:50:03 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=1.49s: + episode_total: mean=83.54s, total=250.62s, count=3, min=3521.8ms, max=155160.9ms + sensor_polling: mean=355.3ms, total=153.86s, count=433, min=296.1ms, max=644.3ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11365.1ms, max=11365.1ms + physics_step: mean=22.7ms, total=9.82s, count=433, min=15.0ms, max=37.3ms + save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4286.3ms, max=4286.3ms + task_sampling: mean=495.1ms, total=1.49s, count=3, min=465.1ms, max=549.3ms + task_specific_sample: mean=491.6ms, total=1.47s, count=3, min=461.3ms, max=546.2ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.6ms + mj_forward_sync: mean=456.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=14.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:50:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:50:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:50:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:50:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:50:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:50:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:50:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126409m [env.py: 870] +05/11 23:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:50:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=229.4ms, total=229.5ms [env.py: 1105] +05/11 23:50:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:50:05 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:50:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:50:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:50:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:50:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:50:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:50:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185199m [env.py: 870] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:50:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=656.5ms, total=656.5ms [env.py: 1105] +05/11 23:50:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:50:07 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:50:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:50:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:50:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:50:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:50:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:50:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191778m [env.py: 870] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:50:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63336881 -0.92067196 -0.19177787] yaw=-76.0deg [env.py: 1019] +05/11 23:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:50:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=915.8ms, total=915.8ms [env.py: 1075] +05/11 23:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.921, -0.192) [env.py: 1079] +05/11 23:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.0 deg [env.py: 1082] +05/11 23:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/11 23:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:50:09 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/11 23:50:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 23:50:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:50:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:50:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:50:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:50:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.673[m] 92.567[deg] [grasp_sample.py: 539] +05/11 23:50:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:50:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:50:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:50:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:50:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:50:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:50:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:50:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:50:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:50:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.286s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:50:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.476[m] 60.643[deg] [grasp_sample.py: 539] +05/11 23:50:45 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:50:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:50:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:50:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:50:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:50:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:50:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178362m [env.py: 870] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:50:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49235462 -1.0550311 -0.17836208] yaw=-50.8deg [env.py: 1019] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60003852 -1.00438651 -0.17836208] yaw=-69.8deg [env.py: 1019] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:50:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.8ms [env.py: 1075] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -1.055, -0.178) [env.py: 1079] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/11 23:50:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:50:47 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/11 23:50:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/11 23:50:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:50:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:50:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:50:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:50:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.980s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:50:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.602[m] 83.763[deg] [grasp_sample.py: 539] +05/11 23:50:49 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:50:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:50:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:50:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:50:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:50:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:50:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:50:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175589m [env.py: 870] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:50:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.6ms, total=193.7ms [env.py: 1105] +05/11 23:50:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:50:50 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:50:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:50:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:50:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155244m [env.py: 870] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33331883 -1.08780418 -0.15524426] yaw=-44.6deg [env.py: 1019] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.1ms [env.py: 1075] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -1.088, -0.155) [env.py: 1079] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/11 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:50:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:50:52 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/11 23:50:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 23:50:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:50:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:50:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:50:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.713s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:50:57 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.708[m] 93.353[deg] [grasp_sample.py: 539] +05/11 23:50:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:50:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:50:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:50:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:51:27 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:51:29 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:51:38 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:51:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:51:48 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:51:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:51:48 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/11 23:51:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:51:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 23:51:49 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/11 23:51:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:51:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:51:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:51:57 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/11 23:51:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:52:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:52:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:52:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.46s (batch: 3.72s, save: 9.74s) [pipeline.py: 300] +05/11 23:52:02 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.42s: + episode_total: mean=145.13s, total=145.13s, count=1, min=145132.3ms, max=145132.3ms + sensor_polling: mean=343.5ms, total=97.21s, count=283, min=305.9ms, max=702.4ms + save_trajectories: mean=9.74s, total=9.74s, count=1, min=9743.2ms, max=9743.2ms + physics_step: mean=21.6ms, total=6.12s, count=283, min=14.7ms, max=34.3ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3719.9ms, max=3719.9ms + task_sampling: mean=417.5ms, total=417.5ms, count=1, min=417.5ms, max=417.5ms + task_specific_sample: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=408.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:52:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181196m [env.py: 870] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5745995 -0.976374 -0.18119578] yaw=-52.5deg [env.py: 1019] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.3ms, total=222.3ms [env.py: 1075] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.976, -0.181) [env.py: 1079] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/11 23:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:52:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:52:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.02s (batch: 3.83s, save: 10.19s) [pipeline.py: 300] +05/11 23:52:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:52:03 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/11 23:52:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 23:52:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:04 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=1.60s: + episode_total: mean=33.22s, total=166.12s, count=5, min=224.3ms, max=157400.2ms + sensor_polling: mean=376.0ms, total=108.67s, count=289, min=297.3ms, max=735.4ms + save_trajectories: mean=10.19s, total=10.19s, count=1, min=10190.2ms, max=10190.2ms + physics_step: mean=24.3ms, total=7.02s, count=289, min=14.4ms, max=63.6ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3834.7ms, max=3834.7ms + task_specific_sample: mean=362.7ms, total=1.81s, count=5, min=220.5ms, max=561.0ms + task_sampling: mean=400.9ms, total=1.60s, count=4, min=337.3ms, max=564.7ms + task_sampling_failed: mean=224.3ms, total=224.3ms, count=1, min=224.3ms, max=224.3ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.5ms + mj_forward_sync: mean=395.9us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:52:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.739s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:52:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.650[m] 75.618[deg] [grasp_sample.py: 539] +05/11 23:52:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:52:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:52:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:52:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148945m [env.py: 870] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3685307 -1.16792121 -0.14894484] yaw=-48.2deg [env.py: 1019] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48818346 -1.06554765 -0.14894484] yaw=-52.9deg [env.py: 1019] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:52:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=484.1ms, total=484.1ms [env.py: 1075] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.369, -1.168, -0.149) [env.py: 1079] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/11 23:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/11 23:52:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:52:06 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/11 23:52:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 23:52:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.598s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:52:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.617[m] 94.174[deg] [grasp_sample.py: 539] +05/11 23:52:09 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:52:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:52:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:52:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.00s (batch: 3.15s, save: 8.85s) [pipeline.py: 300] +05/11 23:52:10 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=1.10s: + episode_total: mean=51.44s, total=154.31s, count=3, min=239.3ms, max=145265.7ms + sensor_polling: mean=379.2ms, total=102.00s, count=269, min=335.6ms, max=619.7ms + save_trajectories: mean=8.85s, total=8.85s, count=1, min=8848.6ms, max=8848.6ms + physics_step: mean=22.7ms, total=6.11s, count=269, min=14.7ms, max=56.7ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3154.7ms, max=3154.7ms + task_specific_sample: mean=443.4ms, total=1.33s, count=3, min=235.4ms, max=641.6ms + task_sampling: mean=550.3ms, total=1.10s, count=2, min=455.8ms, max=644.8ms + task_sampling_failed: mean=239.3ms, total=239.3ms, count=1, min=239.3ms, max=239.3ms + scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.0ms, max=2.3ms + mj_forward_sync: mean=403.7us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:52:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117759m [env.py: 870] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=299.1ms, total=299.1ms [env.py: 1105] +05/11 23:52:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:52:10 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:52:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135104m [env.py: 870] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22639691 -0.90635223 -0.1351043 ] yaw=-43.8deg [env.py: 1019] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.40892517 -0.78415031 -0.1351043 ] yaw=-58.0deg [env.py: 1019] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147430m [env.py: 870] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61297255 -0.75980756 -0.1351043 ] yaw=-81.6deg [env.py: 1019] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:52:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=624.9ms, total=624.9ms [env.py: 1075] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -0.906, -0.135) [env.py: 1079] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.8 deg [env.py: 1082] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45455188 -0.76015098 -0.14742954] yaw=-72.1deg [env.py: 1019] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:52:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=477.4ms, total=477.5ms [env.py: 1075] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.760, -0.147) [env.py: 1079] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.1 deg [env.py: 1082] +05/11 23:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:52:12 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/11 23:52:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 23:52:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:52:12 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/11 23:52:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 23:52:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.398s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:52:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198116m [env.py: 870] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190655m [env.py: 870] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47460757 -0.77857489 -0.1981155 ] yaw=-63.6deg [env.py: 1019] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42654404 -0.99023333 -0.1981155 ] yaw=-64.4deg [env.py: 1019] +05/11 23:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:52:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=212.3ms, total=212.4ms [env.py: 1105] +05/11 23:52:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:52:15 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=732.4ms, total=732.5ms [env.py: 1075] +05/11 23:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.779, -0.198) [env.py: 1079] +05/11 23:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg [env.py: 1082] +05/11 23:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 23:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:52:16 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/11 23:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158684m [env.py: 870] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64658207 -0.87767095 -0.15868369] yaw=-78.7deg [env.py: 1019] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:52:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=261.6ms, total=261.6ms [env.py: 1075] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.647, -0.878, -0.159) [env.py: 1079] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.7 deg [env.py: 1082] +05/11 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:52:17 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/11 23:52:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:52:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:52:18 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:52:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.581s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:52:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.720[m] 93.885[deg] [grasp_sample.py: 539] +05/11 23:52:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:52:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:52:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:52:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:52:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:52:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192402m [env.py: 870] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55484898 -0.95198811 -0.19240162] yaw=-53.0deg [env.py: 1019] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20652038 -1.13976447 -0.19240162] yaw=-47.5deg [env.py: 1019] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:52:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.3ms [env.py: 1075] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.952, -0.192) [env.py: 1079] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/11 23:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:52:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:52:19 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/11 23:52:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 23:52:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.740s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:52:20 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.673[m] 89.005[deg] [grasp_sample.py: 539] +05/11 23:52:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:52:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:52:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:38 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:52:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:52:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:52:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:52:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.524[m] 64.452[deg] [grasp_sample.py: 539] +05/11 23:52:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:52:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:52:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:52:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:52:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:52:57 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/11 23:52:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:52:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:52:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:52:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:52:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:52:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:53:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.861s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:53:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.520[m] 64.592[deg] [grasp_sample.py: 539] +05/11 23:53:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:53:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:53:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:53:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:53:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:53:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:53:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.574s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:53:07 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.042[m] 3.436[deg] [grasp_sample.py: 539] +05/11 23:53:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:53:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:53:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:53:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:53:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.18s (batch: 3.50s, save: 10.68s) [pipeline.py: 300] +05/11 23:53:12 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=2.04s: + episode_total: mean=30.17s, total=180.99s, count=6, min=202.7ms, max=140109.7ms + sensor_polling: mean=345.7ms, total=114.44s, count=331, min=300.9ms, max=640.0ms + save_trajectories: mean=10.68s, total=10.68s, count=1, min=10678.1ms, max=10678.1ms + physics_step: mean=22.0ms, total=7.27s, count=331, min=14.6ms, max=32.4ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3504.4ms, max=3504.4ms + task_specific_sample: mean=521.6ms, total=3.13s, count=6, min=198.4ms, max=1164.9ms + task_sampling: mean=680.0ms, total=2.04s, count=3, min=411.9ms, max=1167.0ms + task_sampling_failed: mean=369.7ms, total=1.11s, count=3, min=202.6ms, max=664.7ms + scene_randomize: mean=1.4ms, total=8.2ms, count=6, min=1.0ms, max=3.1ms + mj_forward_sync: mean=441.9us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:53:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:53:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:53:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:53:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:53:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121118m [env.py: 870] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=460.2ms, total=460.2ms [env.py: 1105] +05/11 23:53:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:53:14 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:53:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.479s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:53:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.520[m] 64.594[deg] [grasp_sample.py: 539] +05/11 23:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:53:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185483m [env.py: 870] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.2ms, total=196.3ms [env.py: 1105] +05/11 23:53:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:53:15 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:53:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:53:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137835m [env.py: 870] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51881982 -0.77101643 -0.13783495] yaw=-61.3deg [env.py: 1019] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18674566 -0.97612996 -0.13783495] yaw=-53.9deg [env.py: 1019] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:53:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.2ms [env.py: 1075] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.519, -0.771, -0.138) [env.py: 1079] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/11 23:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:53:17 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/11 23:53:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 23:53:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:53:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:53:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.334s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:53:18 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:53:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189228m [env.py: 870] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51013364 -1.05212492 -0.18922763] yaw=-60.0deg [env.py: 1019] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:53:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=944.7ms, total=944.8ms [env.py: 1075] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.510, -1.052, -0.189) [env.py: 1079] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/11 23:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:53:21 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/11 23:53:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 23:53:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:53:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:53:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:53:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.597[m] 88.773[deg] [grasp_sample.py: 539] +05/11 23:53:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:53:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:53:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:53:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:53:27 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:53:27 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=1.89s: + episode_total: mean=15.39s, total=76.94s, count=5, min=220.3ms, max=70601.7ms + sensor_polling: mean=326.9ms, total=26.48s, count=81, min=298.9ms, max=540.0ms + task_specific_sample: mean=481.2ms, total=2.41s, count=5, min=217.2ms, max=718.6ms + task_sampling: mean=628.4ms, total=1.89s, count=3, min=465.3ms, max=721.7ms + physics_step: mean=19.2ms, total=1.55s, count=81, min=12.7ms, max=29.7ms + task_sampling_failed: mean=267.7ms, total=535.5ms, count=2, min=220.2ms, max=315.2ms + scene_randomize: mean=1.2ms, total=5.9ms, count=5, min=0.9ms, max=1.8ms + mj_forward_sync: mean=418.0us, total=2.1ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=13.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195595m [env.py: 870] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31798799 -0.99697112 -0.1955945 ] yaw=-59.5deg [env.py: 1019] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4092473 -0.94507374 -0.1955945 ] yaw=-57.1deg [env.py: 1019] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20365378 -1.13747791 -0.1955945 ] yaw=-47.8deg [env.py: 1019] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=475.5ms, total=475.5ms [env.py: 1075] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.318, -0.997, -0.196) [env.py: 1079] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/11 23:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:53:29 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/11 23:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 23:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:53:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:53:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:53:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.568s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:53:37 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.735[m] 90.114[deg] [grasp_sample.py: 539] +05/11 23:53:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:53:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:53:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:53:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:53:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:53:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:53:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:53:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:53:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.749s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:53:52 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.479[m] 60.089[deg] [grasp_sample.py: 539] +05/11 23:53:53 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:53:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118772m [env.py: 870] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=343.2ms, total=343.2ms [env.py: 1105] +05/11 23:53:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:53:55 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:53:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185519m [env.py: 870] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11978919 -1.01947356 -0.18551855] yaw=-33.7deg [env.py: 1019] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:53:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.2ms [env.py: 1075] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.019, -0.186) [env.py: 1079] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.7 deg [env.py: 1082] +05/11 23:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:53:57 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/11 23:53:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/11 23:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:53:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:53:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:53:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:53:58 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:53:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:53:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:53:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:53:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:53:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:53:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:53:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:53:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:53:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:53:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:53:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117842m [env.py: 870] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:53:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:53:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1105] +05/11 23:54:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:54:00 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:54:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:54:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:54:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:54:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:54:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:54:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120063m [env.py: 870] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:54:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49242272 -1.00747165 -0.1200635 ] yaw=-48.1deg [env.py: 1019] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:54:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.1ms [env.py: 1075] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -1.007, -0.120) [env.py: 1079] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/11 23:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:54:01 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/11 23:54:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:54:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:54:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:54:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:54:03 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:54:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.470s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:54:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 87.731[deg] [grasp_sample.py: 539] +05/11 23:54:05 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:54:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:54:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:54:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:54:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:54:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103116m [env.py: 870] +05/11 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:54:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5999018 -0.87102299 -0.10311556] yaw=-75.1deg [env.py: 1019] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21441366 -1.04131097 -0.10311556] yaw=-46.5deg [env.py: 1019] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49929196 -1.00623438 -0.10311556] yaw=-52.2deg [env.py: 1019] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:54:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.2ms, total=182.2ms [env.py: 1075] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.871, -0.103) [env.py: 1079] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg [env.py: 1082] +05/11 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/11 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:54:07 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/11 23:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:54:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:54:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:54:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:54:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.740s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:54:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.748[m] 84.733[deg] [grasp_sample.py: 539] +05/11 23:54:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:54:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:54:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:54:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:54:22 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:54:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:54:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:54:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 23:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:54:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:54:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:54:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:54:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:54:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:54:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:54:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.66s (batch: 3.69s, save: 9.96s) [pipeline.py: 300] +05/11 23:54:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:54:38 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.47s: + episode_total: mean=154.84s, total=154.84s, count=1, min=154835.7ms, max=154835.7ms + sensor_polling: mean=342.6ms, total=102.78s, count=300, min=303.1ms, max=725.9ms + save_trajectories: mean=9.96s, total=9.96s, count=1, min=9962.6ms, max=9962.6ms + physics_step: mean=22.5ms, total=6.76s, count=300, min=14.9ms, max=64.6ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3694.4ms, max=3694.4ms + task_sampling: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms + task_specific_sample: mean=465.8ms, total=465.8ms, count=1, min=465.8ms, max=465.8ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=420.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:54:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.326s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:54:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.539[m] 56.890[deg] [grasp_sample.py: 539] +05/11 23:54:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:54:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:54:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:54:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:54:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:54:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173337m [env.py: 870] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:54:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45675942 -1.09712371 -0.17333731] yaw=-50.1deg [env.py: 1019] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52692351 -0.96443696 -0.17333731] yaw=-64.6deg [env.py: 1019] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:54:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.7ms, total=220.7ms [env.py: 1075] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -1.097, -0.173) [env.py: 1079] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/11 23:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:40 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:54:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:54:40 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/11 23:54:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 23:54:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:54:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:54:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:54:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.820s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:54:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.609[m] 81.811[deg] [grasp_sample.py: 539] +05/11 23:54:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:54:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 23:54:41 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/11 23:54:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:54:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:54:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:54:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:54:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:54:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:54:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101142m [env.py: 870] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:54:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:54:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15414901 -1.04719337 -0.10114244] yaw=-41.9deg [env.py: 1019] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:54:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=299.2ms, total=299.3ms [env.py: 1075] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -1.047, -0.101) [env.py: 1079] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/11 23:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:54:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:54:42 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/11 23:54:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:54:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:54:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:54:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:54:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:54:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.382s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:54:43 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:54:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:54:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:54:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:54:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:54:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:54:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172822m [env.py: 870] +05/11 23:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:54:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51734917 -0.97043343 -0.17282153] yaw=-70.5deg [env.py: 1019] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:54:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=282.9ms, total=282.9ms [env.py: 1075] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -0.970, -0.173) [env.py: 1079] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.5 deg [env.py: 1082] +05/11 23:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/11 23:54:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:54:45 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/11 23:54:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:54:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:54:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:54:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:54:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:54:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:54:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.674[m] 91.490[deg] [grasp_sample.py: 539] +05/11 23:54:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:54:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:54:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:54:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:54:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:54:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:54:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.04s (batch: 3.30s, save: 8.74s) [pipeline.py: 300] +05/11 23:54:53 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=2.44s: + episode_total: mean=53.23s, total=159.70s, count=3, min=2617.6ms, max=154420.4ms + sensor_polling: mean=406.1ms, total=109.65s, count=270, min=324.3ms, max=687.6ms + save_trajectories: mean=8.74s, total=8.74s, count=1, min=8740.9ms, max=8740.9ms + physics_step: mean=23.6ms, total=6.37s, count=270, min=14.8ms, max=48.0ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3303.7ms, max=3303.7ms + task_sampling: mean=812.0ms, total=2.44s, count=3, min=406.9ms, max=1024.4ms + task_specific_sample: mean=809.0ms, total=2.43s, count=3, min=404.6ms, max=1020.5ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=0.9ms, max=2.6ms + mj_forward_sync: mean=419.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=14.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:54:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:54:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:54:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:54:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:54:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:54:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189172m [env.py: 870] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:54:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49048408 -0.84173536 -0.189172 ] yaw=-71.5deg [env.py: 1019] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:54:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.1ms, total=192.2ms [env.py: 1075] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.842, -0.189) [env.py: 1079] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg [env.py: 1082] +05/11 23:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:54:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:54:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:54:55 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/11 23:54:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 23:54:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:54:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:54:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.771s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:55:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.799[m] 97.527[deg] [grasp_sample.py: 539] +05/11 23:55:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:55:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:55:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:55:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:55:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:55:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:55:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:55:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:55:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.613s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:55:17 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.507[m] 63.643[deg] [grasp_sample.py: 539] +05/11 23:55:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:55:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:55:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:55:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:55:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:55:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:55:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:55:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:55:32 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:55:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:55:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:55:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.779s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:55:41 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.550[m] 61.270[deg] [grasp_sample.py: 539] +05/11 23:55:43 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:55:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:55:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:55:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:55:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:55:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:55:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:55:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157856m [env.py: 870] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:55:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11173979 -1.07855187 -0.15785609] yaw=-35.4deg [env.py: 1019] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51686308 -1.0458575 -0.15785609] yaw=-51.5deg [env.py: 1019] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:55:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.4ms, total=213.4ms [env.py: 1075] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -1.079, -0.158) [env.py: 1079] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/11 23:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:55:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:55:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:55:45 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/11 23:55:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:55:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:55:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:55:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:55:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.294s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:55:46 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:55:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:55:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:55:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:55:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:55:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:55:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:55:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133736m [env.py: 870] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:55:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1105] +05/11 23:55:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:55:47 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:55:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:55:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:55:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:55:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:55:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:55:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:55:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146070m [env.py: 870] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:55:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45287329 -1.08332275 -0.14606954] yaw=-41.4deg [env.py: 1019] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:55:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.3ms, total=203.3ms [env.py: 1075] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -1.083, -0.146) [env.py: 1079] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/11 23:55:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:55:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:55:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:55:49 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/11 23:55:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:55:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:55:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:55:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:55:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.658s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:55:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.619[m] 92.719[deg] [grasp_sample.py: 539] +05/11 23:55:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:55:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:55:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:55:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:55:52 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:55:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 23:55:52 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/11 23:56:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:56:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:56:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.09s (batch: 3.35s, save: 8.74s) [pipeline.py: 300] +05/11 23:56:05 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.71s: + episode_total: mean=156.49s, total=156.49s, count=1, min=156489.1ms, max=156489.1ms + sensor_polling: mean=378.7ms, total=105.66s, count=279, min=295.9ms, max=665.2ms + save_trajectories: mean=8.74s, total=8.74s, count=1, min=8743.1ms, max=8743.1ms + physics_step: mean=24.0ms, total=6.70s, count=279, min=14.8ms, max=54.2ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3351.7ms, max=3351.7ms + task_sampling: mean=714.0ms, total=714.0ms, count=1, min=714.0ms, max=714.0ms + task_specific_sample: mean=711.8ms, total=711.8ms, count=1, min=711.8ms, max=711.8ms + scene_randomize: mean=971.2us, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=380.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:56:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181832m [env.py: 870] +05/11 23:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.5ms, total=185.5ms [env.py: 1105] +05/11 23:56:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:56:07 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:56:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145824m [env.py: 870] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19372742 -1.11597204 -0.145824 ] yaw=-46.0deg [env.py: 1019] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:56:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.3ms, total=217.4ms [env.py: 1075] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -1.116, -0.146) [env.py: 1079] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg [env.py: 1082] +05/11 23:56:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:56:08 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/11 23:56:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 23:56:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.831s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:56:15 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.721[m] 82.915[deg] [grasp_sample.py: 539] +05/11 23:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:16 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:56:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:56:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186351m [env.py: 870] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.243s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.6ms, total=219.6ms [env.py: 1105] +05/11 23:56:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:56:18 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:56:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.695s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:56:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.154[m] 14.247[deg] [grasp_sample.py: 539] +05/11 23:56:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:56:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168377m [env.py: 870] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:56:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.9ms, total=209.0ms [env.py: 1105] +05/11 23:56:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:56:19 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:56:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105296m [env.py: 870] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.14742487 -0.99625289 -0.10529593] yaw=-44.4deg [env.py: 1019] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:56:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=213.3ms, total=213.3ms [env.py: 1075] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.147, -0.996, -0.105) [env.py: 1079] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/11 23:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:56:21 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/11 23:56:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:56:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:22 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.495s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:56:23 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145913m [env.py: 870] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11684463 -1.03927586 -0.14591305] yaw=-29.4deg [env.py: 1019] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55893734 -0.86824342 -0.14591305] yaw=-59.9deg [env.py: 1019] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:56:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.0ms [env.py: 1075] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -1.039, -0.146) [env.py: 1079] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.4 deg [env.py: 1082] +05/11 23:56:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:56:25 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/11 23:56:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:56:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.463s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:56:26 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145504m [env.py: 870] +05/11 23:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50834237 -0.90481189 -0.14550361] yaw=-66.6deg [env.py: 1019] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:56:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.1ms, total=235.1ms [env.py: 1075] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.905, -0.146) [env.py: 1079] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/11 23:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/11 23:56:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:56:28 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/11 23:56:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:56:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.648s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:56:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.717[m] 91.041[deg] [grasp_sample.py: 539] +05/11 23:56:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:56:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:56:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:56:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:56:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:56:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.593s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:56:32 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.154[m] 14.245[deg] [grasp_sample.py: 539] +05/11 23:56:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:56:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:56:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:56:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:56:40 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/11 23:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:56:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:56:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:56:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.581s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:56:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.154[m] 14.245[deg] [grasp_sample.py: 539] +05/11 23:56:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:56:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:56:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:56:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:56:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:56:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.45s (batch: 3.15s, save: 8.30s) [pipeline.py: 300] +05/11 23:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:52 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.46s: + episode_total: mean=133.30s, total=133.30s, count=1, min=133303.7ms, max=133303.7ms + sensor_polling: mean=343.7ms, total=88.33s, count=257, min=298.8ms, max=661.0ms + save_trajectories: mean=8.30s, total=8.30s, count=1, min=8304.4ms, max=8304.4ms + physics_step: mean=22.2ms, total=5.70s, count=257, min=14.5ms, max=33.7ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3149.5ms, max=3149.5ms + task_sampling: mean=463.9ms, total=463.9ms, count=1, min=463.9ms, max=463.9ms + task_specific_sample: mean=460.1ms, total=460.1ms, count=1, min=460.1ms, max=460.1ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=424.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195332m [env.py: 870] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.5ms, total=204.6ms [env.py: 1105] +05/11 23:56:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:56:54 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153890m [env.py: 870] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22917611 -1.01912325 -0.15388998] yaw=-47.5deg [env.py: 1019] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:56:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.3ms [env.py: 1075] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.019, -0.154) [env.py: 1079] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/11 23:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:56:56 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/11 23:56:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 23:56:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:56:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:56:57 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:56:57 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:56:57 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=False episode_total=0.45s: + episode_total: mean=122.32s, total=122.32s, count=1, min=122316.0ms, max=122316.0ms + sensor_polling: mean=375.5ms, total=62.71s, count=167, min=325.2ms, max=668.6ms + physics_step: mean=20.6ms, total=3.44s, count=167, min=13.4ms, max=69.6ms + task_sampling: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms + task_specific_sample: mean=451.3ms, total=451.3ms, count=1, min=451.3ms, max=451.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=378.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:56:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:56:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:56:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:56:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:56:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:56:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146605m [env.py: 870] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:56:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3145135 -0.96097509 -0.14660525] yaw=-57.0deg [env.py: 1019] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58819086 -0.95282476 -0.14660525] yaw=-65.2deg [env.py: 1019] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:56:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms [env.py: 1075] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -0.961, -0.147) [env.py: 1079] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/11 23:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:56:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:56:59 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/11 23:56:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 23:56:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:56:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:56:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:56:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.718s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:56:59 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.726[m] 78.924[deg] [grasp_sample.py: 539] +05/11 23:57:01 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171011m [env.py: 870] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.7ms, total=215.7ms [env.py: 1105] +05/11 23:57:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:57:02 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:57:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183932m [env.py: 870] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24422824 -0.9883095 -0.18393223] yaw=-52.8deg [env.py: 1019] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:57:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.7ms, total=220.8ms [env.py: 1075] +05/11 23:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.244, -0.988, -0.184) [env.py: 1079] +05/11 23:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/11 23:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/11 23:57:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:57:04 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/11 23:57:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:57:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.522s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.739[m] 95.887[deg] [grasp_sample.py: 539] +05/11 23:57:06 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:57:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118322m [env.py: 870] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1839602 -0.9704061 -0.11832185] yaw=-54.2deg [env.py: 1019] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.8ms [env.py: 1075] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -0.970, -0.118) [env.py: 1079] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/11 23:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:57:08 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/11 23:57:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:57:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.316s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:57:10 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177234m [env.py: 870] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31804008 -1.08022933 -0.17723448] yaw=-37.3deg [env.py: 1019] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.3ms [env.py: 1075] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.318, -1.080, -0.177) [env.py: 1079] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/11 23:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:57:11 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/11 23:57:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/11 23:57:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.413s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.709[m] 84.755[deg] [grasp_sample.py: 539] +05/11 23:57:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.848s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:15 INFO: [Worker 0] Feasible grasp found 280 (originally 280): w/ 0.774[m] 97.082[deg] [grasp_sample.py: 539] +05/11 23:57:15 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:57:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:57:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:57:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:57:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:57:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165411m [env.py: 870] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47043124 -0.90909984 -0.16541138] yaw=-68.8deg [env.py: 1019] +05/11 23:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:57:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.3ms, total=198.3ms [env.py: 1075] +05/11 23:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -0.909, -0.165) [env.py: 1079] +05/11 23:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg [env.py: 1082] +05/11 23:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/11 23:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:57:17 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/11 23:57:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/11 23:57:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.437s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.737[m] 91.049[deg] [grasp_sample.py: 539] +05/11 23:57:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:57:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:57:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:57:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:28 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:57:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.490s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.099[m] 11.375[deg] [grasp_sample.py: 539] +05/11 23:57:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:57:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:57:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:57:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:57:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:44 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.120[m] 13.720[deg] [grasp_sample.py: 539] +05/11 23:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:45 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:57:46 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:57:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 23:57:46 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/11 23:57:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134568m [env.py: 870] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61908178 -0.99428956 -0.13456811] yaw=-76.2deg [env.py: 1019] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47201213 -0.84663536 -0.13456811] yaw=-66.2deg [env.py: 1019] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:57:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms [env.py: 1075] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.994, -0.135) [env.py: 1079] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.2 deg [env.py: 1082] +05/11 23:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:57:47 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/11 23:57:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 23:57:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.749s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.629[m] 96.654[deg] [grasp_sample.py: 539] +05/11 23:57:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:57:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:57:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:57:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:57:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:57:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.885s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:57:52 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.597[m] 61.585[deg] [grasp_sample.py: 539] +05/11 23:57:53 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:57:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136228m [env.py: 870] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46666685 -0.81757838 -0.136228 ] yaw=-56.6deg [env.py: 1019] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:57:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=676.6ms, total=676.6ms [env.py: 1075] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -0.818, -0.136) [env.py: 1079] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/11 23:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:57:55 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/11 23:57:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 23:57:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:57:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.291s, found feasible grasp: False [grasp_sample.py: 500] +05/11 23:57:57 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 23:57:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 23:57:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/11 23:57:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.82s (batch: 3.34s, save: 8.48s) [pipeline.py: 300] +05/11 23:57:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:57:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:57:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:57:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:57:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:57:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117663m [env.py: 870] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:57:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26993069 -1.11099118 -0.11766283] yaw=-35.5deg [env.py: 1019] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:57:59 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=4.75s: + episode_total: mean=19.19s, total=268.66s, count=14, min=204.4ms, max=129935.7ms + sensor_polling: mean=338.2ms, total=144.06s, count=426, min=293.7ms, max=634.4ms + physics_step: mean=21.8ms, total=9.28s, count=426, min=12.9ms, max=94.9ms + save_trajectories: mean=8.48s, total=8.48s, count=1, min=8476.7ms, max=8476.7ms + task_specific_sample: mean=439.7ms, total=6.16s, count=14, min=201.0ms, max=1132.6ms + task_sampling: mean=527.4ms, total=4.75s, count=9, min=388.3ms, max=1135.2ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3341.5ms, max=3341.5ms + task_sampling_failed: mean=290.1ms, total=1.45s, count=5, min=204.4ms, max=470.9ms + scene_randomize: mean=1.1ms, total=15.8ms, count=14, min=1.0ms, max=1.8ms + mj_forward_sync: mean=449.0us, total=6.3ms, count=14, min=0.4ms, max=0.6ms + policy_setup: mean=12.1us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26893626 -0.94885489 -0.11766283] yaw=-58.9deg [env.py: 1019] +05/11 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=674.9ms, total=674.9ms [env.py: 1075] +05/11 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.111, -0.118) [env.py: 1079] +05/11 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg [env.py: 1082] +05/11 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/11 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:57:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:57:59 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/11 23:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:57:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:57:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:57:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:58:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:58:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:58:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:58:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:58:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:58:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124134m [env.py: 870] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:58:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=459.6ms, total=459.6ms [env.py: 1105] +05/11 23:58:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:58:00 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:58:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.648s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:58:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.717[m] 83.716[deg] [grasp_sample.py: 539] +05/11 23:58:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:58:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:58:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:58:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:58:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:58:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:58:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:58:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:58:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:58:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107606m [env.py: 870] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:58:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29626689 -1.2221882 -0.10760556] yaw=-44.4deg [env.py: 1019] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:58:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.1ms [env.py: 1075] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.222, -0.108) [env.py: 1079] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/11 23:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:58:02 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/11 23:58:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/11 23:58:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:58:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:58:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.491s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:58:07 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.717[m] 76.480[deg] [grasp_sample.py: 539] +05/11 23:58:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:58:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:58:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 23:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:58:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:58:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:58:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:58:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.623s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:58:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.483[m] 69.987[deg] [grasp_sample.py: 539] +05/11 23:58:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:58:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:58:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:58:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:58:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:58:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:58:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.748s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:58:25 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.483[m] 69.989[deg] [grasp_sample.py: 539] +05/11 23:58:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:58:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:58:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:58:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:58:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:58:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:58:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:58:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.738s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:58:37 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.483[m] 69.989[deg] [grasp_sample.py: 539] +05/11 23:58:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:58:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:58:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:38 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:58:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:58:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:58:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:58:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 357 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.704s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:58:41 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.038[m] 2.973[deg] [grasp_sample.py: 539] +05/11 23:58:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:58:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:58:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:58:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 23:58:48 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:58:48 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=False episode_total=2.15s: + episode_total: mean=19.10s, total=152.78s, count=8, min=195.5ms, max=77335.5ms + sensor_polling: mean=344.4ms, total=78.87s, count=229, min=298.0ms, max=619.4ms + physics_step: mean=21.2ms, total=4.85s, count=229, min=13.0ms, max=125.5ms + task_specific_sample: mean=345.4ms, total=2.76s, count=8, min=191.4ms, max=453.4ms + task_sampling: mean=429.1ms, total=2.15s, count=5, min=410.1ms, max=455.8ms + task_sampling_failed: mean=213.0ms, total=639.1ms, count=3, min=195.5ms, max=227.2ms + scene_randomize: mean=1.2ms, total=9.2ms, count=8, min=0.9ms, max=2.5ms + mj_forward_sync: mean=383.6us, total=3.1ms, count=8, min=0.4ms, max=0.5ms + policy_setup: mean=13.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:58:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:58:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:58:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:58:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:58:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172107m [env.py: 870] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32491703 -0.9463923 -0.17210705] yaw=-53.8deg [env.py: 1019] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.66190099 -0.95889886 -0.17210705] yaw=-60.8deg [env.py: 1019] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:58:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms [env.py: 1075] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -0.946, -0.172) [env.py: 1079] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/11 23:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:58:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:58:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:58:50 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/11 23:58:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 23:58:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:58:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:58:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.599s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:58:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.733[m] 88.825[deg] [grasp_sample.py: 539] +05/11 23:58:54 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:58:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:58:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:58:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:58:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:58:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:58:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102971m [env.py: 870] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33641709 -1.05142523 -0.10297115] yaw=-46.0deg [env.py: 1019] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:58:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.4ms [env.py: 1075] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.336, -1.051, -0.103) [env.py: 1079] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg [env.py: 1082] +05/11 23:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:58:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:58:55 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/11 23:58:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/11 23:58:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:58:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:58:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:58:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:58:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.525s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:59:01 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.743[m] 87.791[deg] [grasp_sample.py: 539] +05/11 23:59:01 INFO: [Worker 0] Object is not in grasp! 0.00088 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 23:59:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:59:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:59:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:59:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 382 non-colliding grasps [grasp_sample.py: 465] +05/11 23:59:02 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:59:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.307s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:59:03 INFO: [Worker 0] Feasible grasp found 198 (originally 198): w/ 0.073[m] 0.392[deg] [grasp_sample.py: 539] +05/11 23:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:59:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:59:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:59:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:59:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:59:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:59:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:59:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:59:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128705m [env.py: 870] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:59:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.5ms, total=198.6ms [env.py: 1105] +05/11 23:59:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/11 23:59:04 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/11 23:59:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:59:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:59:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:59:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:59:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:59:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134102m [env.py: 870] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:59:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36994653 -1.07446103 -0.13410223] yaw=-55.5deg [env.py: 1019] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:59:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=199.9ms [env.py: 1075] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.074, -0.134) [env.py: 1079] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/11 23:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:59:05 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/11 23:59:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/11 23:59:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:59:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:59:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:59:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.297s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:59:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.651[m] 86.898[deg] [grasp_sample.py: 539] +05/11 23:59:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:08 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:59:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:59:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:59:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:59:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:59:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:59:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144294m [env.py: 870] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:59:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46392769 -1.03756896 -0.14429394] yaw=-61.9deg [env.py: 1019] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42601696 -1.05069837 -0.14429394] yaw=-56.9deg [env.py: 1019] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:59:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1075] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -1.038, -0.144) [env.py: 1079] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg [env.py: 1082] +05/11 23:59:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:59:09 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/11 23:59:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/11 23:59:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:59:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:59:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:59:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.527s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:59:12 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.694[m] 83.186[deg] [grasp_sample.py: 539] +05/11 23:59:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:59:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:59:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:59:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 23:59:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:28 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/11 23:59:28 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=0.46s: + episode_total: mean=149.67s, total=149.67s, count=1, min=149665.4ms, max=149665.4ms + sensor_polling: mean=384.0ms, total=115.21s, count=300, min=317.7ms, max=633.5ms + physics_step: mean=23.3ms, total=6.98s, count=300, min=19.1ms, max=57.7ms + task_sampling: mean=455.1ms, total=455.1ms, count=1, min=455.1ms, max=455.1ms + task_specific_sample: mean=451.6ms, total=451.6ms, count=1, min=451.6ms, max=451.6ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=424.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 23:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:59:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:59:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127894m [env.py: 870] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51664561 -1.02593835 -0.12789396] yaw=-57.3deg [env.py: 1019] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=579.3ms, total=579.3ms [env.py: 1075] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -1.026, -0.128) [env.py: 1079] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/11 23:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:59:30 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/11 23:59:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 23:59:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:59:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:59:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.358s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:59:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.658[m] 94.947[deg] [grasp_sample.py: 539] +05/11 23:59:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:59:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:59:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:39 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/11 23:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 23:59:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 23:59:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 23:59:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:59:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:59:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:59:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.643s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:59:43 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.557[m] 55.626[deg] [grasp_sample.py: 539] +05/11 23:59:44 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 23:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 23:59:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 23:59:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/11 23:59:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/11 23:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/11 23:59:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144006m [env.py: 870] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/11 23:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50577655 -0.89485044 -0.14400555] yaw=-65.3deg [env.py: 1019] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35439988 -1.12347649 -0.14400555] yaw=-55.2deg [env.py: 1019] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 23:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.2ms, total=221.2ms [env.py: 1075] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.506, -0.895, -0.144) [env.py: 1079] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/11 23:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 23:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 23:59:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/11 23:59:46 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/11 23:59:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 23:59:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/11 23:59:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 23:59:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/11 23:59:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.704s, found feasible grasp: True [grasp_sample.py: 500] +05/11 23:59:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.714[m] 88.755[deg] [grasp_sample.py: 539] +05/11 23:59:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 23:59:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 23:59:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 23:59:59 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/11 23:59:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 23:59:59 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 00:00:04 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:00:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:00:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:00:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.34s (batch: 3.30s, save: 9.03s) [pipeline.py: 300] +05/12 00:00:12 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=3.88s: + episode_total: mean=20.92s, total=188.30s, count=9, min=215.9ms, max=133711.7ms + sensor_polling: mean=325.3ms, total=108.99s, count=335, min=298.4ms, max=562.6ms + save_trajectories: mean=9.03s, total=9.03s, count=1, min=9033.0ms, max=9033.0ms + physics_step: mean=21.4ms, total=7.17s, count=335, min=14.7ms, max=30.1ms + task_specific_sample: mean=477.5ms, total=4.30s, count=9, min=210.4ms, max=883.5ms + task_sampling: mean=554.8ms, total=3.88s, count=7, min=407.5ms, max=885.7ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3303.2ms, max=3303.2ms + task_sampling_failed: mean=219.7ms, total=439.5ms, count=2, min=215.9ms, max=223.6ms + scene_randomize: mean=1.2ms, total=10.7ms, count=9, min=1.0ms, max=2.6ms + mj_forward_sync: mean=422.3us, total=3.8ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=11.4us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:00:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:00:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:00:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:00:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:00:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:00:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149224m [env.py: 870] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:00:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57022984 -1.0139513 -0.14922412] yaw=-57.0deg [env.py: 1019] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:00:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.9ms [env.py: 1075] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.570, -1.014, -0.149) [env.py: 1079] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 00:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:00:14 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 00:00:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 00:00:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:00:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:00:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:00:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.743s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:00:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.635[m] 75.999[deg] [grasp_sample.py: 539] +05/12 00:00:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:00:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:00:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:00:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:00:22 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:00:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:00:22 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 00:00:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:00:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:00:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:00:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.95s (batch: 3.37s, save: 8.58s) [pipeline.py: 300] +05/12 00:00:35 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.45s: + episode_total: mean=76.60s, total=153.20s, count=2, min=472.8ms, max=152726.2ms + sensor_polling: mean=384.6ms, total=107.31s, count=279, min=292.4ms, max=652.2ms + save_trajectories: mean=8.58s, total=8.58s, count=1, min=8578.3ms, max=8578.3ms + physics_step: mean=24.2ms, total=6.74s, count=279, min=19.3ms, max=37.9ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3367.2ms, max=3367.2ms + task_specific_sample: mean=455.0ms, total=910.0ms, count=2, min=443.1ms, max=466.9ms + task_sampling_failed: mean=472.8ms, total=472.8ms, count=1, min=472.8ms, max=472.8ms + task_sampling: mean=445.7ms, total=445.7ms, count=1, min=445.7ms, max=445.7ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.0ms, max=2.9ms + mj_forward_sync: mean=491.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:00:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:00:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198648m [env.py: 870] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57642317 -0.81167565 -0.19864816] yaw=-59.9deg [env.py: 1019] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.6ms [env.py: 1075] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.812, -0.199) [env.py: 1079] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg [env.py: 1082] +05/12 00:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:00:36 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 00:00:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 00:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:00:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:00:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:00:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.509s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:00:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.759[m] 92.266[deg] [grasp_sample.py: 539] +05/12 00:00:39 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:00:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:00:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:00:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177129m [env.py: 870] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:00:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.4ms, total=197.5ms [env.py: 1105] +05/12 00:00:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:00:40 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:00:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:00:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:00:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:00:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:00:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:00:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199582m [env.py: 870] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:00:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2637655 -0.87888537 -0.19958219] yaw=-55.7deg [env.py: 1019] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:00:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.9ms, total=173.0ms [env.py: 1075] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -0.879, -0.200) [env.py: 1079] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/12 00:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:00:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:00:42 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 00:00:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:00:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:00:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:00:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:00:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.253s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:00:43 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:00:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:00:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:00:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:00:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:00:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:00:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:00:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:00:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142657m [env.py: 870] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:00:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:00:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1105] +05/12 00:00:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:00:45 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:00:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:00:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:00:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:00:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:00:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:00:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:00:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:00:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:00:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:00:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198723m [env.py: 870] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:00:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52120783 -0.96700661 -0.19872332] yaw=-68.5deg [env.py: 1019] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:00:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.6ms, total=215.7ms [env.py: 1075] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.967, -0.199) [env.py: 1079] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 00:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:00:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:00:47 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 00:00:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:00:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:00:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:00:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:00:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:00:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:00:49 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.640[m] 84.198[deg] [grasp_sample.py: 539] +05/12 00:00:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:00:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:00:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:00:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:00:51 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:00:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:00:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:00:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:00:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 336 non-colliding grasps [grasp_sample.py: 465] +05/12 00:00:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.564s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:00:52 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.038[m] 1.433[deg] [grasp_sample.py: 539] +05/12 00:00:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:00:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:00:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:00:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.525s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:00:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.118[m] 13.474[deg] [grasp_sample.py: 539] +05/12 00:00:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:00:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:00:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:00:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:01:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:01:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:01:06 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.186[m] 18.745[deg] [grasp_sample.py: 539] +05/12 00:01:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:01:07 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:01:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:01:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:01:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:01:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:01:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:01:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128447m [env.py: 870] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:01:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3923492 -0.98289237 -0.12844717] yaw=-64.2deg [env.py: 1019] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36463082 -1.00624125 -0.12844717] yaw=-56.0deg [env.py: 1019] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:01:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.6ms, total=232.7ms [env.py: 1075] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.983, -0.128) [env.py: 1079] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.2 deg [env.py: 1082] +05/12 00:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:01:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:01:08 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 00:01:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 00:01:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:01:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:01:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:01:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.775s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:01:13 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.739[m] 81.823[deg] [grasp_sample.py: 539] +05/12 00:01:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:01:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:01:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:25 INFO: [Worker 0] Object is not in grasp! 0.00108 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:01:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:01:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:01:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:01:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 00:01:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.359s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:01:25 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.498[deg] [grasp_sample.py: 539] +05/12 00:01:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:01:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:01:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:01:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:45 INFO: [Worker 0] Object is not in grasp! 0.00122 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:01:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:01:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:01:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:01:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 00:01:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.322s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:01:46 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.051[m] 0.487[deg] [grasp_sample.py: 539] +05/12 00:01:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:01:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:01:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:01:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:01:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:01:57 INFO: [Worker 0] Object is not in grasp! 0.00161 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:01:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:01:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:01:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:01:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 00:01:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:01 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:02:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.881s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:02:02 INFO: [Worker 0] Feasible grasp found 311 (originally 311): w/ 0.136[m] 4.518[deg] [grasp_sample.py: 539] +05/12 00:02:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:02:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:02:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:07 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:02:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.436s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:02:17 INFO: [Worker 0] Feasible grasp found 552 (originally 552): w/ 0.234[m] 23.300[deg] [grasp_sample.py: 539] +05/12 00:02:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:02:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:02:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:02:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:02:20 INFO: [Worker 0] Feasible grasp found 455 (originally 455): w/ 0.453[m] 40.191[deg] [grasp_sample.py: 539] +05/12 00:02:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:02:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:02:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:25 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:02:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:02:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:02:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:28 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:02:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:02:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:02:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:02:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:02:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:02:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.92s (batch: 3.70s, save: 9.23s) [pipeline.py: 300] +05/12 00:02:38 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.82s: + episode_total: mean=188.94s, total=188.94s, count=1, min=188940.6ms, max=188940.6ms + sensor_polling: mean=426.9ms, total=128.06s, count=300, min=332.8ms, max=757.0ms + save_trajectories: mean=9.23s, total=9.23s, count=1, min=9227.4ms, max=9227.4ms + physics_step: mean=26.0ms, total=7.81s, count=300, min=19.5ms, max=41.1ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3697.0ms, max=3697.0ms + task_sampling: mean=823.8ms, total=823.8ms, count=1, min=823.8ms, max=823.8ms + task_specific_sample: mean=820.6ms, total=820.6ms, count=1, min=820.6ms, max=820.6ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=422.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:02:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148942m [env.py: 870] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.9ms, total=190.0ms [env.py: 1105] +05/12 00:02:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:02:40 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:02:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167154m [env.py: 870] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23385135 -1.07696568 -0.16715426] yaw=-53.6deg [env.py: 1019] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08431171 -1.07791497 -0.16715426] yaw=-46.6deg [env.py: 1019] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:02:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.1ms, total=246.2ms [env.py: 1075] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -1.077, -0.167) [env.py: 1079] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg [env.py: 1082] +05/12 00:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:02:42 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 00:02:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 00:02:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:02:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:02:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.59s (batch: 3.98s, save: 11.61s) [pipeline.py: 300] +05/12 00:02:44 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.42s: + episode_total: mean=150.62s, total=150.62s, count=1, min=150616.9ms, max=150616.9ms + sensor_polling: mean=334.1ms, total=100.23s, count=300, min=303.0ms, max=644.5ms + save_trajectories: mean=11.61s, total=11.61s, count=1, min=11609.0ms, max=11609.0ms + physics_step: mean=21.7ms, total=6.51s, count=300, min=15.0ms, max=34.7ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3977.1ms, max=3977.1ms + task_sampling: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + task_specific_sample: mean=413.5ms, total=413.5ms, count=1, min=413.5ms, max=413.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=426.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:02:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:02:44 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.756[m] 78.572[deg] [grasp_sample.py: 539] +05/12 00:02:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188929m [env.py: 870] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26717276 -0.93658503 -0.18892874] yaw=-50.7deg [env.py: 1019] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:02:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.4ms, total=184.5ms [env.py: 1075] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -0.937, -0.189) [env.py: 1079] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 00:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:02:45 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 00:02:45 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:02:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 00:02:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140916m [env.py: 870] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.8ms, total=186.8ms [env.py: 1105] +05/12 00:02:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:02:47 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:02:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.474s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:02:48 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 00:02:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168342m [env.py: 870] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48179412 -0.78293128 -0.16834235] yaw=-59.9deg [env.py: 1019] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24955944 -1.13748077 -0.16834235] yaw=-51.1deg [env.py: 1019] +05/12 00:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:02:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.2ms [env.py: 1075] +05/12 00:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.783, -0.168) [env.py: 1079] +05/12 00:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg [env.py: 1082] +05/12 00:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 00:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:02:49 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 00:02:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:02:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104076m [env.py: 870] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6130871 -0.83135218 -0.10407579] yaw=-64.4deg [env.py: 1019] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:02:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=204.8ms, total=204.8ms [env.py: 1075] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.613, -0.831, -0.104) [env.py: 1079] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/12 00:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:50 INFO: [Worker 0] Object is not in grasp! 0.00123 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:02:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:02:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:02:50 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 00:02:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.295s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:02:50 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:02:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:02:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127809m [env.py: 870] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.5ms, total=198.5ms [env.py: 1105] +05/12 00:02:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:02:52 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:02:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.866s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:02:52 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.061[m] 9.575[deg] [grasp_sample.py: 539] +05/12 00:02:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:02:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:02:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:02:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:02:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:02:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:02:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:02:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185006m [env.py: 870] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:02:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43562414 -1.10255782 -0.18500591] yaw=-59.6deg [env.py: 1019] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27401314 -1.11346562 -0.18500591] yaw=-47.0deg [env.py: 1019] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:02:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.1ms, total=216.2ms [env.py: 1075] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -1.103, -0.185) [env.py: 1079] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg [env.py: 1082] +05/12 00:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:02:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:02:54 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 00:02:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:02:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:02:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:02:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:02:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.544s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:02:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.601[m] 83.146[deg] [grasp_sample.py: 539] +05/12 00:02:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:02:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:02:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:02:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.125s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:03:01 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.771[m] 88.568[deg] [grasp_sample.py: 539] +05/12 00:03:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:03:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:03:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:03:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:03:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:06 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:03:06 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=1.19s: + episode_total: mean=28.97s, total=144.83s, count=5, min=205.5ms, max=139503.1ms + sensor_polling: mean=323.0ms, total=96.91s, count=300, min=285.9ms, max=525.4ms + physics_step: mean=20.8ms, total=6.24s, count=300, min=14.4ms, max=32.7ms + task_specific_sample: mean=319.3ms, total=1.60s, count=5, min=202.1ms, max=427.7ms + task_sampling: mean=397.1ms, total=1.19s, count=3, min=354.0ms, max=429.9ms + task_sampling_failed: mean=209.7ms, total=419.3ms, count=2, min=205.5ms, max=213.8ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=2.6ms + mj_forward_sync: mean=374.1us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:03:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:03:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:03:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:03:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145419m [env.py: 870] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.1ms, total=208.2ms [env.py: 1105] +05/12 00:03:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:03:07 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:03:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:03:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127028m [env.py: 870] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58819967 -0.77679116 -0.12702789] yaw=-64.9deg [env.py: 1019] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.1ms, total=226.2ms [env.py: 1075] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.588, -0.777, -0.127) [env.py: 1079] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/12 00:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:03:09 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 00:03:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 00:03:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.302s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:03:11 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:03:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:03:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:03:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:03:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:03:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:03:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136797m [env.py: 870] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:03:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57509348 -0.91526927 -0.13679687] yaw=-73.7deg [env.py: 1019] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:03:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.7ms, total=216.8ms [env.py: 1075] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.915, -0.137) [env.py: 1079] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg [env.py: 1082] +05/12 00:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:03:12 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 00:03:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:03:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:03:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.702[m] 94.775[deg] [grasp_sample.py: 539] +05/12 00:03:15 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:03:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:03:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:03:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:03:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:03:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:03:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113368m [env.py: 870] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:03:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22911766 -1.03157629 -0.11336791] yaw=-36.7deg [env.py: 1019] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08190082 -1.07433032 -0.11336791] yaw=-31.1deg [env.py: 1019] +05/12 00:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:03:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.8ms [env.py: 1075] +05/12 00:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.032, -0.113) [env.py: 1079] +05/12 00:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.7 deg [env.py: 1082] +05/12 00:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 00:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:03:17 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 00:03:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.381s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:03:19 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 00:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:03:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:03:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118666m [env.py: 870] +05/12 00:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:03:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55312558 -0.73861711 -0.11866575] yaw=-67.2deg [env.py: 1019] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33140989 -1.0360735 -0.11866575] yaw=-59.1deg [env.py: 1019] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:03:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=464.5ms, total=464.5ms [env.py: 1075] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.739, -0.119) [env.py: 1079] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/12 00:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:03:21 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 00:03:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:03:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.324s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:03:23 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:03:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:03:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:03:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:03:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:03:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119116m [env.py: 870] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:03:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56497184 -0.94665071 -0.11911629] yaw=-66.0deg [env.py: 1019] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:03:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.2ms [env.py: 1075] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.947, -0.119) [env.py: 1079] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/12 00:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:03:24 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 00:03:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:03:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:03:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:30 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:03:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.627s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:03:31 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.719[m] 91.136[deg] [grasp_sample.py: 539] +05/12 00:03:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:03:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.615[m] 64.926[deg] [grasp_sample.py: 539] +05/12 00:03:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:03:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:03:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:03:33 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:03:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:03:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:03:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:03:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:03:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:03:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110670m [env.py: 870] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:03:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67987543 -0.97134647 -0.11066993] yaw=-61.3deg [env.py: 1019] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28678422 -0.95664588 -0.11066993] yaw=-57.8deg [env.py: 1019] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:03:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.2ms [env.py: 1075] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.680, -0.971, -0.111) [env.py: 1079] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/12 00:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:03:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:03:34 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 00:03:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:03:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.693s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:03:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.660[m] 88.234[deg] [grasp_sample.py: 539] +05/12 00:03:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:03:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:03:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:03:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:03:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.401s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:03:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.611[m] 64.332[deg] [grasp_sample.py: 539] +05/12 00:03:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:03:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:03:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:03:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:03:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:03:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:03:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:03:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:03:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:03:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:04:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:04:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.539[m] 66.750[deg] [grasp_sample.py: 539] +05/12 00:04:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.474s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:04:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.611[m] 64.334[deg] [grasp_sample.py: 539] +05/12 00:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:04:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:04:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:04:01 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:04:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:04:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:04:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:04:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:04:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:04:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193212m [env.py: 870] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:04:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40782585 -0.95262298 -0.19321243] yaw=-45.5deg [env.py: 1019] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:04:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.7ms [env.py: 1075] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -0.953, -0.193) [env.py: 1079] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 00:04:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:04:03 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 00:04:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:04:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:04:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:04:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:04:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:04:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:04:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.83s (batch: 3.38s, save: 9.45s) [pipeline.py: 300] +05/12 00:04:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:05 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=2.58s: + episode_total: mean=43.96s, total=307.75s, count=7, min=206.9ms, max=176810.5ms + sensor_polling: mean=360.6ms, total=182.44s, count=506, min=293.1ms, max=646.5ms + physics_step: mean=23.0ms, total=11.65s, count=506, min=15.0ms, max=62.4ms + save_trajectories: mean=9.45s, total=9.45s, count=1, min=9449.6ms, max=9449.6ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3377.8ms, max=3377.8ms + task_specific_sample: mean=395.5ms, total=2.77s, count=7, min=203.3ms, max=474.4ms + task_sampling: mean=430.1ms, total=2.58s, count=6, min=399.0ms, max=477.1ms + task_sampling_failed: mean=206.9ms, total=206.9ms, count=1, min=206.9ms, max=206.9ms + scene_randomize: mean=1.0ms, total=7.1ms, count=7, min=1.0ms, max=1.0ms + mj_forward_sync: mean=394.0us, total=2.8ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:04:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:04:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:04:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:04:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:04:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:04:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185842m [env.py: 870] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:04:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31170855 -1.23462534 -0.18584201] yaw=-39.0deg [env.py: 1019] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27614548 -1.13292421 -0.18584201] yaw=-32.1deg [env.py: 1019] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:04:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.0ms, total=189.0ms [env.py: 1075] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.235, -0.186) [env.py: 1079] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg [env.py: 1082] +05/12 00:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:04:06 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 00:04:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 00:04:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:04:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:04:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:04:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.754s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:04:08 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.719[m] 83.184[deg] [grasp_sample.py: 539] +05/12 00:04:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.311s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:04:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.630[m] 80.289[deg] [grasp_sample.py: 539] +05/12 00:04:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:04:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:04:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:04:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:04:09 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:04:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:04:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:04:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:04:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:04:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:04:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:04:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193313m [env.py: 870] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:04:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3537311 -1.06236451 -0.19331323] yaw=-42.9deg [env.py: 1019] +05/12 00:04:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:04:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=522.1ms, total=522.2ms [env.py: 1075] +05/12 00:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -1.062, -0.193) [env.py: 1079] +05/12 00:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 00:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 00:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:04:11 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 00:04:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:04:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:04:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:04:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:04:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.492s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:04:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.666[m] 75.409[deg] [grasp_sample.py: 539] +05/12 00:04:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:04:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:04:13 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:04:13 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:04:13 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=False episode_total=0.84s: + episode_total: mean=43.22s, total=86.44s, count=2, min=3084.1ms, max=83351.2ms + sensor_polling: mean=372.5ms, total=27.94s, count=75, min=298.9ms, max=625.5ms + physics_step: mean=19.8ms, total=1.49s, count=75, min=12.9ms, max=27.2ms + task_sampling: mean=421.3ms, total=842.6ms, count=2, min=408.3ms, max=434.3ms + task_specific_sample: mean=418.0ms, total=835.9ms, count=2, min=404.8ms, max=431.1ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.3ms, max=2.4ms + mj_forward_sync: mean=493.4us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=12.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:04:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:04:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:04:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:04:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:04:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:04:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:04:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:04:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:04:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176142m [env.py: 870] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:04:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27174315 -1.15538892 -0.17614215] yaw=-33.4deg [env.py: 1019] +05/12 00:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:04:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=459.9ms, total=459.9ms [env.py: 1075] +05/12 00:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.155, -0.176) [env.py: 1079] +05/12 00:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.4 deg [env.py: 1082] +05/12 00:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 00:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:04:15 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 00:04:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 00:04:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:04:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:04:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:04:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.482s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:04:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.679[m] 78.650[deg] [grasp_sample.py: 539] +05/12 00:04:18 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:04:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:04:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:04:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:04:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:04:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:04:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:04:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180070m [env.py: 870] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:04:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=241.2ms, total=241.2ms [env.py: 1105] +05/12 00:04:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:04:19 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:04:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:04:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:04:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:04:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:04:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:04:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:04:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171706m [env.py: 870] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:04:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.4ms, total=218.4ms [env.py: 1105] +05/12 00:04:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:04:21 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:04:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:04:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:04:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:04:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:04:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:04:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174761m [env.py: 870] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:04:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39771213 -0.88709118 -0.17476079] yaw=-57.0deg [env.py: 1019] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:04:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=243.2ms, total=243.2ms [env.py: 1075] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -0.887, -0.175) [env.py: 1079] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 00:04:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:04:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:04:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:04:22 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 00:04:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:04:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:04:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:04:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:04:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.079s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:04:32 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.736[m] 86.750[deg] [grasp_sample.py: 539] +05/12 00:04:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:04:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:04:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:04:41 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:04:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:05:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:05:02 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:05:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:05:02 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/12 00:05:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:05:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:05:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:05:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:05:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:05:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:05:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.10s (batch: 3.33s, save: 8.77s) [pipeline.py: 300] +05/12 00:05:14 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.35s: + episode_total: mean=24.64s, total=147.83s, count=6, min=195.7ms, max=141030.5ms + sensor_polling: mean=371.8ms, total=94.44s, count=254, min=338.6ms, max=670.4ms + save_trajectories: mean=8.77s, total=8.77s, count=1, min=8768.1ms, max=8768.1ms + physics_step: mean=22.2ms, total=5.63s, count=254, min=14.8ms, max=48.5ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3332.2ms, max=3332.2ms + task_specific_sample: mean=322.9ms, total=1.94s, count=6, min=192.0ms, max=487.6ms + task_sampling: mean=450.4ms, total=1.35s, count=3, min=418.4ms, max=490.1ms + task_sampling_failed: mean=203.9ms, total=611.7ms, count=3, min=195.6ms, max=208.8ms + scene_randomize: mean=1.4ms, total=8.1ms, count=6, min=1.0ms, max=2.3ms + mj_forward_sync: mean=496.0us, total=3.0ms, count=6, min=0.4ms, max=0.7ms + policy_setup: mean=13.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:05:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:05:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:05:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:05:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:05:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:05:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:05:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:05:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:05:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:05:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:05:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191952m [env.py: 870] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:05:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52556752 -1.01694079 -0.1919523 ] yaw=-65.0deg [env.py: 1019] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:05:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.6ms, total=176.7ms [env.py: 1075] +05/12 00:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -1.017, -0.192) [env.py: 1079] +05/12 00:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 00:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 00:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:05:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:05:16 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 00:05:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 00:05:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:05:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:05:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:05:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.661s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:05:17 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.621[m] 90.186[deg] [grasp_sample.py: 539] +05/12 00:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:05:18 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:05:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:05:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:05:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:05:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:05:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:05:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:05:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118108m [env.py: 870] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:05:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=155.1ms, total=155.2ms [env.py: 1105] +05/12 00:05:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:05:19 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:05:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:05:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:05:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:05:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:05:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:05:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:05:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106690m [env.py: 870] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:05:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.3ms, total=171.3ms [env.py: 1105] +05/12 00:05:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:05:20 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:05:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:05:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:05:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:05:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:05:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:05:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:05:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139170m [env.py: 870] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:05:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=183.3ms, total=183.3ms [env.py: 1105] +05/12 00:05:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:05:22 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:05:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:05:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:05:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:05:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:05:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:05:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:05:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185155m [env.py: 870] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:05:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28417886 -1.14988074 -0.18515455] yaw=-37.7deg [env.py: 1019] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36969019 -0.87764031 -0.18515455] yaw=-57.5deg [env.py: 1019] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:05:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=161.3ms, total=161.3ms [env.py: 1075] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -1.150, -0.185) [env.py: 1079] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/12 00:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:05:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:05:23 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 00:05:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:05:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:05:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:05:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:05:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:05:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:05:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.660[m] 82.824[deg] [grasp_sample.py: 539] +05/12 00:05:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:05:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:05:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:05:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:05:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:05:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:05:46 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:05:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:05:50 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:06:05 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:06:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:06:05 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/12 00:06:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:06:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:06:08 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 00:06:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:06:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:06:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.67s (batch: 3.07s, save: 8.60s) [pipeline.py: 300] +05/12 00:06:17 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.40s: + episode_total: mean=130.68s, total=130.68s, count=1, min=130681.6ms, max=130681.6ms + sensor_polling: mean=343.2ms, total=89.58s, count=261, min=297.1ms, max=744.1ms + save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.0ms, max=8598.0ms + physics_step: mean=22.2ms, total=5.79s, count=261, min=14.5ms, max=90.8ms + save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3072.4ms, max=3072.4ms + task_sampling: mean=399.0ms, total=399.0ms, count=1, min=399.0ms, max=399.0ms + task_specific_sample: mean=395.2ms, total=395.2ms, count=1, min=395.2ms, max=395.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=418.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:06:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:06:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:06:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:06:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:06:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:06:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:06:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110434m [env.py: 870] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:06:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.49609432 -1.05067259 -0.11043357] yaw=-48.8deg [env.py: 1019] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:06:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.0ms, total=184.0ms [env.py: 1075] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -1.051, -0.110) [env.py: 1079] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg [env.py: 1082] +05/12 00:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:06:18 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 00:06:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 00:06:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:06:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:06:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:06:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:06:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:06:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.48s (batch: 3.32s, save: 8.16s) [pipeline.py: 300] +05/12 00:06:20 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=4.01s: + episode_total: mean=20.34s, total=183.10s, count=9, min=216.9ms, max=130250.8ms + sensor_polling: mean=331.0ms, total=101.94s, count=308, min=298.3ms, max=557.2ms + save_trajectories: mean=8.16s, total=8.16s, count=1, min=8162.3ms, max=8162.3ms + physics_step: mean=21.9ms, total=6.74s, count=308, min=14.5ms, max=67.1ms + task_specific_sample: mean=467.1ms, total=4.20s, count=9, min=213.8ms, max=729.7ms + task_sampling: mean=501.2ms, total=4.01s, count=8, min=401.0ms, max=732.9ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3321.7ms, max=3321.7ms + task_sampling_failed: mean=216.9ms, total=216.9ms, count=1, min=216.9ms, max=216.9ms + scene_randomize: mean=1.0ms, total=9.2ms, count=9, min=0.9ms, max=1.2ms + mj_forward_sync: mean=408.5us, total=3.7ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=12.7us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:06:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:06:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:06:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:06:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:06:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:06:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103688m [env.py: 870] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:06:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.9ms, total=174.9ms [env.py: 1105] +05/12 00:06:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:06:22 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:06:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:06:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:06:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:06:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148283m [env.py: 870] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28242096 -0.95556491 -0.1482834 ] yaw=-42.7deg [env.py: 1019] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5919826 -0.76724255 -0.1482834 ] yaw=-62.0deg [env.py: 1019] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33091884 -1.11292877 -0.1482834 ] yaw=-38.9deg [env.py: 1019] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:06:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.3ms [env.py: 1075] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -0.956, -0.148) [env.py: 1079] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg [env.py: 1082] +05/12 00:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:06:24 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 00:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 00:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:06:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:06:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:06:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.823s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:06:24 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.685[m] 86.753[deg] [grasp_sample.py: 539] +05/12 00:06:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:06:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:06:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:06:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:06:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:06:28 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:06:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:06:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.803s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:06:30 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 00:06:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:06:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:06:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:06:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:06:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:06:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153092m [env.py: 870] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:06:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.2ms, total=219.3ms [env.py: 1105] +05/12 00:06:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:06:31 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:06:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:06:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:06:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:06:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:06:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:06:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147615m [env.py: 870] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:06:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.8ms, total=219.8ms [env.py: 1105] +05/12 00:06:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:06:33 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:06:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:06:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:06:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:06:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:06:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:06:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130096m [env.py: 870] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:06:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38492754 -0.89113221 -0.13009616] yaw=-63.3deg [env.py: 1019] +05/12 00:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:06:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=735.3ms, total=735.3ms [env.py: 1075] +05/12 00:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.891, -0.130) [env.py: 1079] +05/12 00:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg [env.py: 1082] +05/12 00:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 00:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:06:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:06:35 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 00:06:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 00:06:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:06:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:06:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:06:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.049s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:06:38 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.772[m] 79.624[deg] [grasp_sample.py: 539] +05/12 00:06:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:06:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:06:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:06:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:06:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:06:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:06:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:06:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:06:53 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:06:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:06:53 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 00:07:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:07:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:07:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.43s (batch: 3.53s, save: 8.90s) [pipeline.py: 300] +05/12 00:07:06 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.18s: + episode_total: mean=42.06s, total=168.22s, count=4, min=225.5ms, max=164348.5ms + sensor_polling: mean=345.6ms, total=97.46s, count=282, min=299.9ms, max=626.9ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8902.4ms, max=8902.4ms + physics_step: mean=22.2ms, total=6.27s, count=282, min=14.7ms, max=34.6ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3526.4ms, max=3526.4ms + task_specific_sample: mean=411.3ms, total=1.65s, count=4, min=223.1ms, max=696.9ms + task_sampling: mean=590.1ms, total=1.18s, count=2, min=480.7ms, max=699.5ms + task_sampling_failed: mean=238.4ms, total=476.9ms, count=2, min=225.4ms, max=251.5ms + scene_randomize: mean=1.0ms, total=4.1ms, count=4, min=0.9ms, max=1.3ms + mj_forward_sync: mean=392.3us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:07:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:07:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:07:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:07:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130932m [env.py: 870] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=179.6ms, total=179.6ms [env.py: 1105] +05/12 00:07:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:07:08 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:07:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:07:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:07:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:07:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:07:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:07:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:07:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113874m [env.py: 870] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:07:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43409811 -1.08156972 -0.11387381] yaw=-40.3deg [env.py: 1019] +05/12 00:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:07:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=209.9ms [env.py: 1075] +05/12 00:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.082, -0.114) [env.py: 1079] +05/12 00:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/12 00:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/12 00:07:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:07:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:07:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:07:10 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 00:07:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 00:07:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:07:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:07:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:07:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:07:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.721[m] 82.820[deg] [grasp_sample.py: 539] +05/12 00:07:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:07:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:07:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:07:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:07:16 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:07:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:07:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:07:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:07:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:07:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:07:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:07:36 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:07:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:07:36 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 00:07:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:07:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:07:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:07:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:07:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.11s (batch: 3.00s, save: 8.11s) [pipeline.py: 300] +05/12 00:07:48 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.74s: + episode_total: mean=29.53s, total=147.64s, count=5, min=164.2ms, max=144820.1ms + sensor_polling: mean=384.1ms, total=102.94s, count=268, min=329.4ms, max=753.6ms + save_trajectories: mean=8.11s, total=8.11s, count=1, min=8113.4ms, max=8113.4ms + physics_step: mean=22.6ms, total=6.05s, count=268, min=14.9ms, max=33.7ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2998.8ms, max=2998.8ms + task_specific_sample: mean=251.8ms, total=1.26s, count=5, min=161.2ms, max=392.7ms + task_sampling: mean=369.6ms, total=739.3ms, count=2, min=343.0ms, max=396.3ms + task_sampling_failed: mean=178.2ms, total=534.6ms, count=3, min=164.2ms, max=191.1ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=1.0ms, max=2.3ms + mj_forward_sync: mean=426.0us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:07:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:07:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:07:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:07:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:07:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:07:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:07:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123562m [env.py: 870] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:07:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.0ms, total=196.0ms [env.py: 1105] +05/12 00:07:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:07:49 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:07:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:07:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:07:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:07:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:07:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 358 non-colliding grasps [grasp_sample.py: 465] +05/12 00:07:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:07:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:07:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:07:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:07:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:07:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:07:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:07:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109412m [env.py: 870] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:07:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55460403 -0.81402683 -0.10941214] yaw=-60.4deg [env.py: 1019] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45340496 -1.04793003 -0.10941214] yaw=-58.3deg [env.py: 1019] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:07:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.5ms [env.py: 1075] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.814, -0.109) [env.py: 1079] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 00:07:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:07:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:07:51 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 00:07:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 00:07:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:07:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:07:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:07:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:07:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.278s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:07:56 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.047[m] 0.660[deg] [grasp_sample.py: 539] +05/12 00:07:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:07:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:07:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:07:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:08:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:08:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:08:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:08:09 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.760[m] 88.853[deg] [grasp_sample.py: 539] +05/12 00:08:10 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:08:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:08:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:08:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:08:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:08:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:08:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:08:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:08:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151407m [env.py: 870] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:08:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=500.3ms, total=500.3ms [env.py: 1105] +05/12 00:08:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:08:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:08:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:08:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189791m [env.py: 870] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50383996 -1.06599892 -0.18979061] yaw=-46.1deg [env.py: 1019] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28717281 -1.09912244 -0.18979061] yaw=-50.8deg [env.py: 1019] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=594.1ms, total=594.1ms [env.py: 1075] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -1.066, -0.190) [env.py: 1079] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 00:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:08:14 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 00:08:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 00:08:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:08:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:08:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:08:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.678s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:08:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.604[m] 92.138[deg] [grasp_sample.py: 539] +05/12 00:08:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:08:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:08:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:08:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:08:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:08:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:08:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:08:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:08:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:08:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 399 non-colliding grasps [grasp_sample.py: 465] +05/12 00:08:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:08:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.410s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:08:27 INFO: [Worker 0] Feasible grasp found 169 (originally 169): w/ 0.090[m] 4.154[deg] [grasp_sample.py: 539] +05/12 00:08:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:08:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:08:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:08:32 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:08:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:08:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:08:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:08:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:08:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:08:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:08:41 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.284[m] 28.578[deg] [grasp_sample.py: 539] +05/12 00:08:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:08:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:08:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:08:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:08:43 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:08:43 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=False episode_total=0.41s: + episode_total: mean=144.83s, total=144.83s, count=1, min=144832.7ms, max=144832.7ms + sensor_polling: mean=354.3ms, total=93.89s, count=265, min=299.3ms, max=639.5ms + physics_step: mean=22.3ms, total=5.92s, count=265, min=14.7ms, max=32.8ms + task_sampling: mean=411.0ms, total=411.0ms, count=1, min=411.0ms, max=411.0ms + task_specific_sample: mean=408.2ms, total=408.2ms, count=1, min=408.2ms, max=408.2ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=363.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:08:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:08:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:08:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:08:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:08:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:08:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187126m [env.py: 870] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:08:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.9ms, total=206.9ms [env.py: 1105] +05/12 00:08:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:08:44 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:08:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:08:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:08:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:08:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:08:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:08:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:08:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108187m [env.py: 870] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:08:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.6ms [env.py: 1105] +05/12 00:08:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:08:46 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:08:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:08:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:08:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:08:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:08:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:08:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127513m [env.py: 870] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:08:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47732525 -1.00462226 -0.12751279] yaw=-45.8deg [env.py: 1019] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15047456 -1.09420009 -0.12751279] yaw=-43.6deg [env.py: 1019] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55945528 -1.0040218 -0.12751279] yaw=-63.5deg [env.py: 1019] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:08:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.3ms, total=161.3ms [env.py: 1075] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -1.005, -0.128) [env.py: 1079] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/12 00:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:08:47 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 00:08:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:08:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:08:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:08:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:08:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.017s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:08:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.719[m] 74.181[deg] [grasp_sample.py: 539] +05/12 00:08:50 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:08:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:08:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:08:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:08:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146179m [env.py: 870] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38129549 -0.9326826 -0.14617851] yaw=-49.3deg [env.py: 1019] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=368.5ms, total=368.5ms [env.py: 1075] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -0.933, -0.146) [env.py: 1079] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/12 00:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:08:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:08:52 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 00:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 00:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:08:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:08:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:08:52 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:08:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:08:52 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 00:09:03 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:09:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.333s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:09:04 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.713[m] 85.508[deg] [grasp_sample.py: 539] +05/12 00:09:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:09:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:09:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.58s (batch: 3.46s, save: 9.12s) [pipeline.py: 300] +05/12 00:09:06 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:09:06 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=1.43s: + episode_total: mean=31.75s, total=158.75s, count=5, min=185.3ms, max=151655.5ms + sensor_polling: mean=324.6ms, total=93.82s, count=289, min=296.0ms, max=509.8ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9117.5ms, max=9117.5ms + physics_step: mean=21.7ms, total=6.26s, count=289, min=15.8ms, max=31.6ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3459.8ms, max=3459.8ms + task_specific_sample: mean=410.8ms, total=2.05s, count=5, min=180.5ms, max=967.1ms + task_sampling: mean=714.4ms, total=1.43s, count=2, min=459.6ms, max=969.2ms + task_sampling_failed: mean=213.8ms, total=641.5ms, count=3, min=185.3ms, max=228.7ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=1.8ms + mj_forward_sync: mean=387.1us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:09:07 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:09:07 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:09:07 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/12 00:09:07 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=4123.03s + House averages: + episode_total: mean=32.92s, total=2370.15s, count=72, min=180.5ms, max=155160.9ms + sensor_polling: mean=349.3ms, total=1432.68s, count=4102, min=285.9ms, max=803.4ms + save_trajectories: mean=9.21s, total=110.55s, count=12, min=8162.3ms, max=11365.1ms + physics_step: mean=22.3ms, total=91.63s, count=4102, min=12.7ms, max=104.6ms + save_batch_prep: mean=3.48s, total=41.79s, count=12, min=2999.5ms, max=4286.3ms + task_specific_sample: mean=431.4ms, total=31.06s, count=72, min=177.7ms, max=1164.9ms + task_sampling: mean=603.2ms, total=28.95s, count=48, min=354.0ms, max=4685.9ms + task_sampling_failed: mean=261.1ms, total=6.27s, count=24, min=180.5ms, max=664.7ms + scene_load: mean=3.94s, total=3.94s, count=1, min=3942.9ms, max=3942.9ms + scene_env_create: mean=1.94s, total=1.94s, count=1, min=1943.9ms, max=1943.9ms + scene_compile: mean=1.85s, total=1.85s, count=1, min=1847.1ms, max=1847.1ms + compile_xml_load: mean=1.10s, total=1.10s, count=1, min=1098.6ms, max=1098.6ms + compile_mujoco: mean=630.7ms, total=630.7ms, count=1, min=630.7ms, max=630.7ms + scene_init: mean=96.2ms, total=96.2ms, count=1, min=96.2ms, max=96.2ms + scene_randomize: mean=1.3ms, total=91.7ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_policy_objects: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + scene_asset_install: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms + compile_robot_add: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms + mj_forward_sync: mean=432.2us, total=31.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + asset_install_scene: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms + policy_setup: mean=14.3us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 00:09:07 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 00:09:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4123.03s + Worker averages: + episode_total: mean=32.92s, total=2370.15s, count=72, min=180.5ms, max=155160.9ms + sensor_polling: mean=349.3ms, total=1432.68s, count=4102, min=285.9ms, max=803.4ms + save_trajectories: mean=9.21s, total=110.55s, count=12, min=8162.3ms, max=11365.1ms + physics_step: mean=22.3ms, total=91.63s, count=4102, min=12.7ms, max=104.6ms + save_batch_prep: mean=3.48s, total=41.79s, count=12, min=2999.5ms, max=4286.3ms + task_specific_sample: mean=431.4ms, total=31.06s, count=72, min=177.7ms, max=1164.9ms + task_sampling: mean=603.2ms, total=28.95s, count=48, min=354.0ms, max=4685.9ms + task_sampling_failed: mean=261.1ms, total=6.27s, count=24, min=180.5ms, max=664.7ms + scene_load: mean=3.94s, total=3.94s, count=1, min=3942.9ms, max=3942.9ms + scene_env_create: mean=1.94s, total=1.94s, count=1, min=1943.9ms, max=1943.9ms + scene_compile: mean=1.85s, total=1.85s, count=1, min=1847.1ms, max=1847.1ms + compile_xml_load: mean=1.10s, total=1.10s, count=1, min=1098.6ms, max=1098.6ms + compile_mujoco: mean=630.7ms, total=630.7ms, count=1, min=630.7ms, max=630.7ms + scene_init: mean=96.2ms, total=96.2ms, count=1, min=96.2ms, max=96.2ms + scene_randomize: mean=1.3ms, total=91.7ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_policy_objects: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + scene_asset_install: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms + compile_robot_add: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms + mj_forward_sync: mean=432.2us, total=31.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + asset_install_scene: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms + policy_setup: mean=14.3us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 00:09:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:09:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:09:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:09:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:09:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:09:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187128m [env.py: 870] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:09:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33357475 -0.90912154 -0.18712837] yaw=-53.7deg [env.py: 1019] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -0.909, -0.187) [env.py: 1079] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.7 deg [env.py: 1082] +05/12 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:09:07 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 00:09:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 00:09:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:09:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:09:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:09:09 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 00:09:09 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/12 00:09:09 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/12 00:09:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.907s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:09:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.763[m] 96.337[deg] [grasp_sample.py: 539] +05/12 00:09:14 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:09:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:09:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:09:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:09:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:09:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:09:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168786m [env.py: 870] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:09:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=244.3ms, total=244.4ms [env.py: 1105] +05/12 00:09:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:09:15 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:09:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:09:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:09:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:09:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:09:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:09:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:09:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117713m [env.py: 870] +05/12 00:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:09:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38489759 -1.03362061 -0.11771334] yaw=-49.4deg [env.py: 1019] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:09:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=319.5ms, total=319.6ms [env.py: 1075] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -1.034, -0.118) [env.py: 1079] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/12 00:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 00:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:09:17 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 00:09:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:09:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:09:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:09:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:09:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:09:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.707[m] 90.807[deg] [grasp_sample.py: 539] +05/12 00:09:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:09:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:09:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:09:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:09:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:09:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:09:24 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 00:09:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:09:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:09:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:09:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 359 non-colliding grasps [grasp_sample.py: 465] +05/12 00:09:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.347s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:09:30 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.051[m] 0.477[deg] [grasp_sample.py: 539] +05/12 00:09:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:09:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:09:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:09:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:09:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.19s (batch: 3.38s, save: 8.80s) [pipeline.py: 300] +05/12 00:09:36 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.53s: + episode_total: mean=73.69s, total=147.39s, count=2, min=189.8ms, max=147195.4ms + sensor_polling: mean=341.8ms, total=96.38s, count=282, min=297.6ms, max=639.0ms + save_trajectories: mean=8.80s, total=8.80s, count=1, min=8804.6ms, max=8804.6ms + physics_step: mean=22.1ms, total=6.24s, count=282, min=17.5ms, max=90.4ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3381.5ms, max=3381.5ms + task_specific_sample: mean=356.1ms, total=712.2ms, count=2, min=185.5ms, max=526.7ms + task_sampling: mean=531.7ms, total=531.7ms, count=1, min=531.7ms, max=531.7ms + task_sampling_failed: mean=189.8ms, total=189.8ms, count=1, min=189.8ms, max=189.8ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms + mj_forward_sync: mean=430.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=30.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:09:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:09:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:09:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:09:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:09:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:09:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121569m [env.py: 870] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:09:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36464446 -0.8154571 -0.1215686 ] yaw=-55.0deg [env.py: 1019] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51493477 -1.05682937 -0.1215686 ] yaw=-67.4deg [env.py: 1019] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:09:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms [env.py: 1075] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -0.815, -0.122) [env.py: 1079] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 00:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:09:38 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 00:09:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 00:09:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:09:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:09:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:09:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.637s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:09:40 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:09:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:09:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:09:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:09:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:09:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:09:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:09:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:09:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111374m [env.py: 870] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:09:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.4ms, total=196.5ms [env.py: 1105] +05/12 00:09:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:09:41 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:09:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:09:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:09:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:09:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:09:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:09:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104318m [env.py: 870] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:09:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48475274 -1.07851034 -0.10431785] yaw=-55.3deg [env.py: 1019] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:09:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=487.8ms, total=487.8ms [env.py: 1075] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -1.079, -0.104) [env.py: 1079] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 00:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:09:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:09:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:09:43 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 00:09:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:09:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:09:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:09:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:09:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.646s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:09:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.681[m] 82.679[deg] [grasp_sample.py: 539] +05/12 00:09:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:09:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:09:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:55 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:09:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:09:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:09:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:09:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 380 non-colliding grasps [grasp_sample.py: 465] +05/12 00:09:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.324s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:09:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.473[deg] [grasp_sample.py: 539] +05/12 00:09:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:09:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:09:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:09:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:10:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:10:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:10:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:10:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:10:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:10:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.339s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:10:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.498[m] 55.765[deg] [grasp_sample.py: 539] +05/12 00:10:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:10:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:10:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:23 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:10:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:10:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:10:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:10:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:10:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.584s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:10:35 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.533[m] 55.867[deg] [grasp_sample.py: 539] +05/12 00:10:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:10:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:10:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:10:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:45 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:10:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:10:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:10:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:10:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:10:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:10:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:10:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.336s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:10:48 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.533[m] 55.867[deg] [grasp_sample.py: 539] +05/12 00:10:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:10:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:10:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:56 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:10:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:10:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:10:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.11s (batch: 3.00s, save: 9.11s) [pipeline.py: 300] +05/12 00:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:57 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=1.32s: + episode_total: mean=46.05s, total=184.19s, count=4, min=207.8ms, max=163750.2ms + sensor_polling: mean=375.5ms, total=112.64s, count=300, min=320.3ms, max=749.8ms + save_trajectories: mean=9.11s, total=9.11s, count=1, min=9107.2ms, max=9107.2ms + physics_step: mean=22.3ms, total=6.68s, count=300, min=19.4ms, max=32.2ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3003.6ms, max=3003.6ms + task_specific_sample: mean=506.5ms, total=2.03s, count=4, min=201.8ms, max=837.2ms + task_sampling: mean=661.6ms, total=1.32s, count=2, min=483.9ms, max=839.4ms + task_sampling_failed: mean=358.9ms, total=717.9ms, count=2, min=207.8ms, max=510.1ms + scene_randomize: mean=1.5ms, total=6.2ms, count=4, min=1.0ms, max=2.4ms + mj_forward_sync: mean=439.6us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:10:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:10:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:10:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:10:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:10:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:10:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:10:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180189m [env.py: 870] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:10:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:10:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:10:59 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33066274 -1.19498273 -0.18018927] yaw=-37.9deg [env.py: 1019] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:10:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=209.9ms [env.py: 1075] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -1.195, -0.180) [env.py: 1079] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 00:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:10:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:10:59 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:10:59 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=False episode_total=1.16s: + episode_total: mean=26.32s, total=78.97s, count=3, min=204.7ms, max=76485.0ms + sensor_polling: mean=379.6ms, total=30.37s, count=80, min=294.8ms, max=534.0ms + physics_step: mean=21.3ms, total=1.70s, count=80, min=12.8ms, max=26.4ms + task_specific_sample: mean=450.8ms, total=1.35s, count=3, min=201.2ms, max=696.4ms + task_sampling: mean=578.1ms, total=1.16s, count=2, min=457.7ms, max=698.6ms + task_sampling_failed: mean=204.7ms, total=204.7ms, count=1, min=204.7ms, max=204.7ms + scene_randomize: mean=1.3ms, total=4.0ms, count=3, min=1.0ms, max=1.9ms + mj_forward_sync: mean=432.0us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:10:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:10:59 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 00:10:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 00:10:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:10:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:10:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:11:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:11:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:11:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:11:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:11:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:11:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:11:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:11:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:11:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185528m [env.py: 870] +05/12 00:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:11:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=440.0ms, total=440.0ms [env.py: 1105] +05/12 00:11:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:11:01 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:11:02 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:11:02 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:11:02 INFO: [Worker 0] Worker 0 completed house 1: 9/14 successful episodes [pipeline.py: 1323] +05/12 00:11:02 INFO: [Worker 0] [PROFILE] House 1 complete: 9/14 successful, 14 episodes, total_time=4159.78s + House averages: + episode_total: mean=34.47s, total=2482.01s, count=72, min=189.8ms, max=164348.5ms + sensor_polling: mean=344.2ms, total=1403.84s, count=4079, min=289.5ms, max=725.9ms + physics_step: mean=21.8ms, total=88.74s, count=4079, min=12.8ms, max=91.1ms + save_trajectories: mean=9.35s, total=84.14s, count=9, min=8304.4ms, max=11609.0ms + save_batch_prep: mean=3.46s, total=31.13s, count=9, min=3042.2ms, max=3977.1ms + task_specific_sample: mean=421.5ms, total=30.35s, count=72, min=185.5ms, max=964.3ms + task_sampling: mean=564.2ms, total=27.64s, count=49, min=333.6ms, max=3127.4ms + task_sampling_failed: mean=242.6ms, total=5.58s, count=23, min=189.8ms, max=451.8ms + scene_load: mean=2.65s, total=2.65s, count=1, min=2650.0ms, max=2650.0ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1672.1ms, max=1672.1ms + scene_compile: mean=837.1ms, total=837.1ms, count=1, min=837.1ms, max=837.1ms + compile_mujoco: mean=564.4ms, total=564.4ms, count=1, min=564.4ms, max=564.4ms + compile_xml_load: mean=208.1ms, total=208.1ms, count=1, min=208.1ms, max=208.1ms + scene_init: mean=99.0ms, total=99.0ms, count=1, min=99.0ms, max=99.0ms + scene_randomize: mean=1.2ms, total=89.1ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + scene_asset_install: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms + mj_forward_sync: mean=436.5us, total=31.4ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=14.0us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 00:11:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.695s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:11:02 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.600[m] 77.867[deg] [grasp_sample.py: 539] +05/12 00:11:02 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 00:11:02 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4159.78s + Worker averages: + episode_total: mean=34.47s, total=2482.01s, count=72, min=189.8ms, max=164348.5ms + sensor_polling: mean=344.2ms, total=1403.84s, count=4079, min=289.5ms, max=725.9ms + physics_step: mean=21.8ms, total=88.74s, count=4079, min=12.8ms, max=91.1ms + save_trajectories: mean=9.35s, total=84.14s, count=9, min=8304.4ms, max=11609.0ms + save_batch_prep: mean=3.46s, total=31.13s, count=9, min=3042.2ms, max=3977.1ms + task_specific_sample: mean=421.5ms, total=30.35s, count=72, min=185.5ms, max=964.3ms + task_sampling: mean=564.2ms, total=27.64s, count=49, min=333.6ms, max=3127.4ms + task_sampling_failed: mean=242.6ms, total=5.58s, count=23, min=189.8ms, max=451.8ms + scene_load: mean=2.65s, total=2.65s, count=1, min=2650.0ms, max=2650.0ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1672.1ms, max=1672.1ms + scene_compile: mean=837.1ms, total=837.1ms, count=1, min=837.1ms, max=837.1ms + compile_mujoco: mean=564.4ms, total=564.4ms, count=1, min=564.4ms, max=564.4ms + compile_xml_load: mean=208.1ms, total=208.1ms, count=1, min=208.1ms, max=208.1ms + scene_init: mean=99.0ms, total=99.0ms, count=1, min=99.0ms, max=99.0ms + scene_randomize: mean=1.2ms, total=89.1ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + scene_asset_install: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms + mj_forward_sync: mean=436.5us, total=31.4ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + asset_install_objects: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=14.0us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 00:11:03 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:11:04 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 00:11:04 INFO: Success count: 9, Total count: 14 [pipeline.py: 1491] +05/12 00:11:04 INFO: Success rate: 64.29% [pipeline.py: 1492] +05/12 00:11:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:11:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:11:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:11:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:11:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:11:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:11:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:11:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:11:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113365m [env.py: 870] +05/12 00:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:11:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=175.3ms, total=175.3ms [env.py: 1105] +05/12 00:11:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:11:05 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:11:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:11:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:11:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:11:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:11:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103263m [env.py: 870] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=164.8ms, total=164.9ms [env.py: 1105] +05/12 00:11:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:11:06 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:11:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:11:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:11:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:11:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:11:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:11:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:11:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154825m [env.py: 870] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:11:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51120161 -1.030544 -0.15482487] yaw=-59.7deg [env.py: 1019] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23953791 -1.15221813 -0.15482487] yaw=-48.4deg [env.py: 1019] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:11:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.8ms, total=162.8ms [env.py: 1075] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -1.031, -0.155) [env.py: 1079] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 00:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:11:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:11:08 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 00:11:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:11:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:11:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:11:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:11:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:11:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.645[m] 75.118[deg] [grasp_sample.py: 539] +05/12 00:11:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:11:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:11:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:11:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:11:15 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:11:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:11:15 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 00:11:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:11:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:11:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.76s (batch: 3.43s, save: 8.33s) [pipeline.py: 300] +05/12 00:11:27 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.96s: + episode_total: mean=22.17s, total=155.22s, count=7, min=215.7ms, max=130513.9ms + sensor_polling: mean=325.6ms, total=89.85s, count=276, min=297.5ms, max=671.9ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8328.8ms, max=8328.8ms + physics_step: mean=21.1ms, total=5.83s, count=276, min=14.3ms, max=36.9ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3427.1ms, max=3427.1ms + task_specific_sample: mean=375.8ms, total=2.63s, count=7, min=211.8ms, max=621.3ms + task_sampling: mean=489.8ms, total=1.96s, count=4, min=390.4ms, max=623.7ms + task_sampling_failed: mean=231.0ms, total=693.0ms, count=3, min=215.6ms, max=257.9ms + scene_randomize: mean=1.0ms, total=7.2ms, count=7, min=0.9ms, max=1.4ms + mj_forward_sync: mean=421.5us, total=3.0ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=13.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:11:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:11:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:11:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:11:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:11:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:11:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:11:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110092m [env.py: 870] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:11:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:11:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1105] +05/12 00:11:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:11:28 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:11:30 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:11:30 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:11:30 INFO: [Worker 0] Worker 0 completed house 1: 10/17 successful episodes [pipeline.py: 1323] +05/12 00:11:30 INFO: [Worker 0] [PROFILE] House 1 complete: 10/17 successful, 17 episodes, total_time=4277.26s + House averages: + episode_total: mean=34.89s, total=2512.33s, count=72, min=166.4ms, max=176810.5ms + sensor_polling: mean=351.8ms, total=1480.87s, count=4210, min=291.5ms, max=769.5ms + physics_step: mean=22.6ms, total=95.35s, count=4210, min=12.7ms, max=174.3ms + save_trajectories: mean=8.99s, total=89.91s, count=10, min=8328.8ms, max=10190.2ms + save_batch_prep: mean=3.39s, total=33.91s, count=10, min=2967.4ms, max=3834.7ms + task_specific_sample: mean=379.1ms, total=27.30s, count=72, min=163.4ms, max=1041.5ms + task_sampling: mean=466.0ms, total=20.97s, count=45, min=337.3ms, max=1044.2ms + task_sampling_failed: mean=353.3ms, total=9.54s, count=27, min=166.4ms, max=3557.9ms + scene_load: mean=3.00s, total=3.00s, count=1, min=3002.4ms, max=3002.4ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1988.8ms, max=1988.8ms + scene_compile: mean=872.1ms, total=872.1ms, count=1, min=872.1ms, max=872.1ms + compile_mujoco: mean=554.6ms, total=554.6ms, count=1, min=554.6ms, max=554.6ms + compile_xml_load: mean=252.0ms, total=252.0ms, count=1, min=252.0ms, max=252.0ms + scene_init: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + scene_randomize: mean=1.2ms, total=85.8ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + mj_forward_sync: mean=396.6us, total=28.6ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + policy_setup: mean=14.3us, total=0.6ms, count=45, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 00:11:30 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 00:11:30 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=4277.26s + Worker averages: + episode_total: mean=34.89s, total=2512.33s, count=72, min=166.4ms, max=176810.5ms + sensor_polling: mean=351.8ms, total=1480.87s, count=4210, min=291.5ms, max=769.5ms + physics_step: mean=22.6ms, total=95.35s, count=4210, min=12.7ms, max=174.3ms + save_trajectories: mean=8.99s, total=89.91s, count=10, min=8328.8ms, max=10190.2ms + save_batch_prep: mean=3.39s, total=33.91s, count=10, min=2967.4ms, max=3834.7ms + task_specific_sample: mean=379.1ms, total=27.30s, count=72, min=163.4ms, max=1041.5ms + task_sampling: mean=466.0ms, total=20.97s, count=45, min=337.3ms, max=1044.2ms + task_sampling_failed: mean=353.3ms, total=9.54s, count=27, min=166.4ms, max=3557.9ms + scene_load: mean=3.00s, total=3.00s, count=1, min=3002.4ms, max=3002.4ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1988.8ms, max=1988.8ms + scene_compile: mean=872.1ms, total=872.1ms, count=1, min=872.1ms, max=872.1ms + compile_mujoco: mean=554.6ms, total=554.6ms, count=1, min=554.6ms, max=554.6ms + compile_xml_load: mean=252.0ms, total=252.0ms, count=1, min=252.0ms, max=252.0ms + scene_init: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + scene_randomize: mean=1.2ms, total=85.8ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + mj_forward_sync: mean=396.6us, total=28.6ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + policy_setup: mean=14.3us, total=0.6ms, count=45, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 00:11:32 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 00:11:32 INFO: Success count: 10, Total count: 17 [pipeline.py: 1491] +05/12 00:11:32 INFO: Success rate: 58.82% [pipeline.py: 1492] +05/12 00:11:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:12:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:12:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:12:18 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:12:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:12:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:12:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:12:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 374 non-colliding grasps [grasp_sample.py: 465] +05/12 00:12:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.630s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:12:19 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.042[m] 3.524[deg] [grasp_sample.py: 539] +05/12 00:12:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:12:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:12:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:12:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:12:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:12:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:13:02 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:13:21 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:13:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:13:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:13:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:13:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:13:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.88s (batch: 2.86s, save: 9.02s) [pipeline.py: 300] +05/12 00:13:34 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.82s: + episode_total: mean=37.72s, total=150.86s, count=4, min=172.3ms, max=146129.7ms + sensor_polling: mean=334.4ms, total=100.32s, count=300, min=296.3ms, max=606.5ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9017.6ms, max=9017.6ms + physics_step: mean=20.3ms, total=6.10s, count=300, min=14.8ms, max=27.5ms + save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2862.2ms, max=2862.2ms + task_specific_sample: mean=291.3ms, total=1.17s, count=4, min=169.7ms, max=454.8ms + task_sampling: mean=410.7ms, total=821.5ms, count=2, min=362.7ms, max=458.8ms + task_sampling_failed: mean=178.1ms, total=356.2ms, count=2, min=172.2ms, max=183.9ms + scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.0ms, max=2.7ms + mj_forward_sync: mean=431.7us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:13:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:13:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:13:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:13:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:13:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:13:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:13:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125677m [env.py: 870] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:13:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41320047 -1.09518036 -0.12567664] yaw=-48.3deg [env.py: 1019] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49974297 -0.83095519 -0.12567664] yaw=-73.3deg [env.py: 1019] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.4ms, total=168.5ms [env.py: 1075] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -1.095, -0.126) [env.py: 1079] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/12 00:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:13:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:13:35 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 00:13:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 00:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:13:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:13:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:13:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.205s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:13:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.633[m] 85.839[deg] [grasp_sample.py: 539] +05/12 00:13:39 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:13:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:13:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:13:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:13:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:13:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:13:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:13:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146666m [env.py: 870] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:13:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=161.9ms, total=161.9ms [env.py: 1105] +05/12 00:13:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:13:40 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:13:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:13:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:13:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:13:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:13:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:13:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:13:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129380m [env.py: 870] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:13:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29182521 -1.02437855 -0.12938005] yaw=-36.0deg [env.py: 1019] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:13:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.2ms [env.py: 1075] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.292, -1.024, -0.129) [env.py: 1079] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.0 deg [env.py: 1082] +05/12 00:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:13:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:13:42 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 00:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 00:13:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:13:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:13:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:13:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.245s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:13:46 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.737[m] 95.149[deg] [grasp_sample.py: 539] +05/12 00:13:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:13:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:13:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:13:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:14:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:14:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:14:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:15:31 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:15:49 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:15:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:15:49 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 00:16:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:16:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:16:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.87s (batch: 2.94s, save: 8.93s) [pipeline.py: 300] +05/12 00:16:02 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.70s: + episode_total: mean=48.12s, total=144.36s, count=3, min=170.5ms, max=140405.9ms + sensor_polling: mean=336.1ms, total=96.80s, count=288, min=291.7ms, max=613.9ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8926.7ms, max=8926.7ms + physics_step: mean=20.1ms, total=5.80s, count=288, min=14.4ms, max=26.5ms + save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2940.4ms, max=2940.4ms + task_specific_sample: mean=287.6ms, total=862.7ms, count=3, min=166.6ms, max=370.8ms + task_sampling: mean=350.5ms, total=701.1ms, count=2, min=327.4ms, max=373.6ms + task_sampling_failed: mean=170.4ms, total=170.4ms, count=1, min=170.4ms, max=170.4ms + scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=1.0ms, max=1.7ms + mj_forward_sync: mean=415.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:16:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:16:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:16:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:16:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:16:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:16:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:16:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174390m [env.py: 870] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:16:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.7ms, total=203.7ms [env.py: 1105] +05/12 00:16:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:16:03 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:16:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:16:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:16:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:16:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:16:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:16:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:16:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187632m [env.py: 870] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:16:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17633343 -1.10164481 -0.18763198] yaw=-44.8deg [env.py: 1019] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41158892 -0.93180844 -0.18763198] yaw=-61.0deg [env.py: 1019] +05/12 00:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38957351 -1.06506007 -0.18763198] yaw=-43.2deg [env.py: 1019] +05/12 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:16:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.9ms [env.py: 1075] +05/12 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.176, -1.102, -0.188) [env.py: 1079] +05/12 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/12 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:16:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:16:05 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 00:16:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 00:16:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:16:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:16:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:16:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.241s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:16:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.733[m] 98.579[deg] [grasp_sample.py: 539] +05/12 00:16:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:16:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:16:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:17:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:17:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:17:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:17:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:17:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 330 non-colliding grasps [grasp_sample.py: 465] +05/12 00:17:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.065s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:17:26 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.044[m] 4.700[deg] [grasp_sample.py: 539] +05/12 00:17:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:17:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:17:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:17:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:45 INFO: [Worker 0] Object is not in grasp! 0.00179 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:17:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:17:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:17:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 408 non-colliding grasps [grasp_sample.py: 465] +05/12 00:17:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.093s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:17:47 INFO: [Worker 0] Feasible grasp found 280 (originally 280): w/ 0.058[m] 19.072[deg] [grasp_sample.py: 539] +05/12 00:17:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:17:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:17:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:17:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:18:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:18:08 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:18:27 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:18:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:18:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:18:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:18:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:18:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.95s (batch: 2.97s, save: 8.98s) [pipeline.py: 300] +05/12 00:18:39 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.48s: + episode_total: mean=77.64s, total=155.27s, count=2, min=215.7ms, max=155058.4ms + sensor_polling: mean=336.1ms, total=100.83s, count=300, min=298.2ms, max=612.3ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8976.0ms, max=8976.0ms + physics_step: mean=20.3ms, total=6.08s, count=300, min=14.4ms, max=25.6ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2974.1ms, max=2974.1ms + task_specific_sample: mean=344.8ms, total=689.7ms, count=2, min=209.3ms, max=480.3ms + task_sampling: mean=482.9ms, total=482.9ms, count=1, min=482.9ms, max=482.9ms + task_sampling_failed: mean=215.7ms, total=215.7ms, count=1, min=215.7ms, max=215.7ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.0ms, max=2.3ms + mj_forward_sync: mean=407.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:18:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:18:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:18:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:18:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:18:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:18:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172966m [env.py: 870] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=169.6ms, total=169.6ms [env.py: 1105] +05/12 00:18:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:18:41 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:18:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:18:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:18:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:18:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:18:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:18:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:18:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:18:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:18:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:18:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159359m [env.py: 870] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:18:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=155.9ms, total=156.0ms [env.py: 1105] +05/12 00:18:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:18:42 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:18:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:18:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:18:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:18:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:18:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:18:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:18:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108085m [env.py: 870] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:18:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.67678028 -0.96209233 -0.10808481] yaw=-78.7deg [env.py: 1019] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49743087 -0.76617331 -0.10808481] yaw=-61.8deg [env.py: 1019] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:18:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.3ms [env.py: 1075] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.677, -0.962, -0.108) [env.py: 1079] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.7 deg [env.py: 1082] +05/12 00:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:18:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:18:44 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 00:18:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 00:18:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:18:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:18:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:18:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.801s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:18:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.628[m] 89.943[deg] [grasp_sample.py: 539] +05/12 00:18:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:18:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:18:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:18:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:19:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:19:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:19:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:19:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:19:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:19:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.492[m] 66.504[deg] [grasp_sample.py: 539] +05/12 00:19:13 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:19:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:19:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:19:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:19:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192810m [env.py: 870] +05/12 00:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4762806 -1.07817092 -0.19281041] yaw=-62.0deg [env.py: 1019] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59480818 -0.96289157 -0.19281041] yaw=-64.6deg [env.py: 1019] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34235791 -1.02183778 -0.19281041] yaw=-59.8deg [env.py: 1019] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:19:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.9ms, total=211.0ms [env.py: 1075] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -1.078, -0.193) [env.py: 1079] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 00:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 00:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:19:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:19:15 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 00:19:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 00:19:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:19:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:19:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:19:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.271s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:19:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.615[m] 86.909[deg] [grasp_sample.py: 539] +05/12 00:19:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:19:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:19:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:19:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:20:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:20:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:20:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:20:57 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:21:13 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:21:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:21:13 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/12 00:21:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:21:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:21:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.33s (batch: 2.97s, save: 8.37s) [pipeline.py: 300] +05/12 00:21:25 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.76s: + episode_total: mean=40.27s, total=161.06s, count=4, min=163.5ms, max=130597.7ms + sensor_polling: mean=335.4ms, total=99.61s, count=297, min=307.5ms, max=613.0ms + save_trajectories: mean=8.37s, total=8.37s, count=1, min=8367.8ms, max=8367.8ms + physics_step: mean=20.0ms, total=5.93s, count=297, min=14.2ms, max=22.3ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2965.6ms, max=2965.6ms + task_specific_sample: mean=271.8ms, total=1.09s, count=4, min=160.6ms, max=380.0ms + task_sampling: mean=378.3ms, total=756.5ms, count=2, min=374.0ms, max=382.5ms + task_sampling_failed: mean=173.1ms, total=346.3ms, count=2, min=163.5ms, max=182.8ms + scene_randomize: mean=1.4ms, total=5.4ms, count=4, min=1.0ms, max=2.2ms + mj_forward_sync: mean=410.3us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:21:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:21:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:21:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:21:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:21:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:21:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111377m [env.py: 870] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:21:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18269633 -0.95377549 -0.11137728] yaw=-37.9deg [env.py: 1019] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:21:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=333.6ms, total=333.7ms [env.py: 1075] +05/12 00:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -0.954, -0.111) [env.py: 1079] +05/12 00:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 00:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 00:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:21:27 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 00:21:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 00:21:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:21:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:21:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:21:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.178s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:21:29 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:21:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:21:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:21:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:21:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:21:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:21:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125462m [env.py: 870] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:21:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.0ms, total=222.0ms [env.py: 1105] +05/12 00:21:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:21:31 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:21:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:21:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:21:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:21:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:21:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:21:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188812m [env.py: 870] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:21:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62748911 -0.89149597 -0.18881159] yaw=-79.0deg [env.py: 1019] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31098195 -1.17628911 -0.18881159] yaw=-37.1deg [env.py: 1019] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:21:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.9ms [env.py: 1075] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.627, -0.891, -0.189) [env.py: 1079] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.0 deg [env.py: 1082] +05/12 00:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:21:33 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 00:21:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:21:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:21:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:21:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:21:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.613s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:21:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.663[m] 84.690[deg] [grasp_sample.py: 539] +05/12 00:21:37 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:21:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:21:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:21:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:21:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:21:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108419m [env.py: 870] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:21:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.9ms, total=188.0ms [env.py: 1105] +05/12 00:21:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:21:39 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:21:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:21:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:21:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:21:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:21:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:21:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106647m [env.py: 870] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:21:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5469021 -0.74149734 -0.10664737] yaw=-77.7deg [env.py: 1019] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:21:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.3ms, total=190.4ms [env.py: 1075] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -0.741, -0.107) [env.py: 1079] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg [env.py: 1082] +05/12 00:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:21:40 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 00:21:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 00:21:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:21:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:21:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:21:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.603s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:21:43 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:21:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:21:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:21:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:21:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:21:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:21:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181604m [env.py: 870] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:21:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.8ms, total=184.8ms [env.py: 1105] +05/12 00:21:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:21:44 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:21:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:21:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:21:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:21:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:21:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:21:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190028m [env.py: 870] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:21:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43518948 -1.05869355 -0.19002828] yaw=-63.1deg [env.py: 1019] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27232004 -1.1952303 -0.19002828] yaw=-33.4deg [env.py: 1019] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:21:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.2ms, total=192.2ms [env.py: 1075] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.059, -0.190) [env.py: 1079] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/12 00:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:21:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:21:46 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 00:21:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 00:21:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:21:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:21:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:21:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.381s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:21:49 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.616[m] 86.502[deg] [grasp_sample.py: 539] +05/12 00:21:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:21:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:21:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:22:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:22:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:22:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:22:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:22:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.515s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:22:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.439[m] 58.299[deg] [grasp_sample.py: 539] +05/12 00:22:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:22:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:22:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:22:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:22:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:23:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:23:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:23:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:23:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:23:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:23:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/12 00:23:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.626s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:23:10 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.059[m] 5.218[deg] [grasp_sample.py: 539] +05/12 00:23:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:23:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:23:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:23:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:23:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:23:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:23:55 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:24:14 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_004 [pipeline.py: 1174] +05/12 00:24:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:24:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:24:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:24:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_004 [save_utils.py: 785] +05/12 00:24:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.95s (batch: 3.10s, save: 8.85s) [pipeline.py: 300] +05/12 00:24:26 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.78s: + episode_total: mean=24.65s, total=172.55s, count=7, min=192.4ms, max=160391.7ms + sensor_polling: mean=334.6ms, total=100.39s, count=300, min=300.4ms, max=609.0ms + save_trajectories: mean=8.85s, total=8.85s, count=1, min=8847.0ms, max=8847.0ms + physics_step: mean=20.4ms, total=6.13s, count=300, min=14.2ms, max=25.4ms + save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3102.2ms, max=3102.2ms + task_specific_sample: mean=339.6ms, total=2.38s, count=7, min=189.4ms, max=586.0ms + task_sampling: mean=444.2ms, total=1.78s, count=4, min=392.1ms, max=588.8ms + task_sampling_failed: mean=278.5ms, total=835.6ms, count=3, min=192.3ms, max=446.2ms + scene_randomize: mean=1.2ms, total=8.2ms, count=7, min=1.0ms, max=1.7ms + mj_forward_sync: mean=400.0us, total=2.8ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:24:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:24:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:24:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:24:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:24:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:24:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:24:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190105m [env.py: 870] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:24:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:24:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=168.0ms, total=168.1ms [env.py: 1105] +05/12 00:24:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:24:27 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:24:29 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:24:29 WARNING: [Worker 0] No trajectory data to save for chunk_004 [pipeline.py: 234] +05/12 00:24:29 INFO: [Worker 0] Worker 0 completed house 1: 16/20 successful episodes [pipeline.py: 1323] +05/12 00:24:29 INFO: [Worker 0] [PROFILE] House 1 complete: 16/20 successful, 20 episodes, total_time=5756.93s + House averages: + episode_total: mean=45.73s, total=3292.88s, count=72, min=163.5ms, max=199731.5ms + sensor_polling: mean=369.5ms, total=2064.55s, count=5588, min=291.7ms, max=757.0ms + save_trajectories: mean=9.48s, total=151.76s, count=16, min=8113.4ms, max=13163.8ms + physics_step: mean=22.0ms, total=123.19s, count=5588, min=13.3ms, max=131.2ms + save_batch_prep: mean=3.30s, total=52.79s, count=16, min=2862.2ms, max=4321.9ms + task_specific_sample: mean=401.1ms, total=28.88s, count=72, min=160.6ms, max=1343.7ms + task_sampling: mean=604.4ms, total=27.20s, count=45, min=327.4ms, max=4484.3ms + task_sampling_failed: mean=221.0ms, total=5.97s, count=27, min=163.5ms, max=510.1ms + scene_load: mean=3.83s, total=3.83s, count=1, min=3834.0ms, max=3834.0ms + scene_env_create: mean=1.87s, total=1.87s, count=1, min=1874.6ms, max=1874.6ms + scene_compile: mean=1.80s, total=1.80s, count=1, min=1796.7ms, max=1796.7ms + compile_xml_load: mean=1.00s, total=1.00s, count=1, min=1002.3ms, max=1002.3ms + compile_mujoco: mean=676.2ms, total=676.2ms, count=1, min=676.2ms, max=676.2ms + scene_randomize: mean=1.4ms, total=99.1ms, count=72, min=0.9ms, max=2.7ms + scene_init: mean=97.1ms, total=97.1ms, count=1, min=97.1ms, max=97.1ms + scene_asset_install: mean=65.2ms, total=65.2ms, count=1, min=65.2ms, max=65.2ms + compile_aux_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_aux_policy_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_robot_add: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=47.9ms, total=47.9ms, count=1, min=47.9ms, max=47.9ms + mj_forward_sync: mean=425.4us, total=30.6ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=15.0us, total=0.7ms, count=45, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 00:24:29 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 00:24:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=5756.93s + Worker averages: + episode_total: mean=45.73s, total=3292.88s, count=72, min=163.5ms, max=199731.5ms + sensor_polling: mean=369.5ms, total=2064.55s, count=5588, min=291.7ms, max=757.0ms + save_trajectories: mean=9.48s, total=151.76s, count=16, min=8113.4ms, max=13163.8ms + physics_step: mean=22.0ms, total=123.19s, count=5588, min=13.3ms, max=131.2ms + save_batch_prep: mean=3.30s, total=52.79s, count=16, min=2862.2ms, max=4321.9ms + task_specific_sample: mean=401.1ms, total=28.88s, count=72, min=160.6ms, max=1343.7ms + task_sampling: mean=604.4ms, total=27.20s, count=45, min=327.4ms, max=4484.3ms + task_sampling_failed: mean=221.0ms, total=5.97s, count=27, min=163.5ms, max=510.1ms + scene_load: mean=3.83s, total=3.83s, count=1, min=3834.0ms, max=3834.0ms + scene_env_create: mean=1.87s, total=1.87s, count=1, min=1874.6ms, max=1874.6ms + scene_compile: mean=1.80s, total=1.80s, count=1, min=1796.7ms, max=1796.7ms + compile_xml_load: mean=1.00s, total=1.00s, count=1, min=1002.3ms, max=1002.3ms + compile_mujoco: mean=676.2ms, total=676.2ms, count=1, min=676.2ms, max=676.2ms + scene_randomize: mean=1.4ms, total=99.1ms, count=72, min=0.9ms, max=2.7ms + scene_init: mean=97.1ms, total=97.1ms, count=1, min=97.1ms, max=97.1ms + scene_asset_install: mean=65.2ms, total=65.2ms, count=1, min=65.2ms, max=65.2ms + compile_aux_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_aux_policy_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_robot_add: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=47.9ms, total=47.9ms, count=1, min=47.9ms, max=47.9ms + mj_forward_sync: mean=425.4us, total=30.6ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=15.0us, total=0.7ms, count=45, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 00:24:31 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 00:24:31 INFO: Success count: 16, Total count: 20 [pipeline.py: 1491] +05/12 00:24:31 INFO: Success rate: 80.00% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_005/experiment_config_20260512_002553.pkl b/3drawers/sim_chunks/chunk_005/experiment_config_20260512_002553.pkl new file mode 100644 index 0000000000000000000000000000000000000000..39126061991e6a452066868f2f134c086d6fdb19 --- /dev/null +++ b/3drawers/sim_chunks/chunk_005/experiment_config_20260512_002553.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:159113c2e55f44c04bd050df84b71f3c4903ff05281109f3eb633708b35af801 +size 8146 diff --git 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a/3drawers/sim_chunks/chunk_005/running_log.log b/3drawers/sim_chunks/chunk_005/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..aef7771b99551c5daee300d965241babc0ab80a4 --- /dev/null +++ b/3drawers/sim_chunks/chunk_005/running_log.log @@ -0,0 +1,14943 @@ +05/12 00:25:53 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 00:25:53 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 00:25:53 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 00:25:53 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40504, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 00:25:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 00:25:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 00:25:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 00:25:54 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 00:25:54 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 00:25:54 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 00:25:54 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40502, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 00:25:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 00:25:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 00:25:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 00:25:54 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 00:25:54 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 00:25:54 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 00:25:54 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 00:25:54 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 00:25:54 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40501, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 00:25:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 00:25:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 00:25:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 00:25:55 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 00:25:55 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 00:25:55 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 00:25:55 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 00:25:55 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_005'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40503, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 00:25:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 00:25:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 00:25:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 00:25:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 00:25:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 00:25:56 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 00:25:56 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 00:25:56 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 00:25:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:25:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:25:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108375m [env.py: 870] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:25:56 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 00:25:56 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10872922 -1.06579023 -0.1083747 ] yaw=-41.0deg [env.py: 1019] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:25:56 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 00:25:56 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 00:25:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:25:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:25:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124769m [env.py: 870] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:25:56 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59013998 -0.85693328 -0.1083747 ] yaw=-65.2deg [env.py: 1019] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:25:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.3ms, retries=185.6ms, total=202.0ms [env.py: 1075] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.109, -1.066, -0.108) [env.py: 1079] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg [env.py: 1082] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35284954 -0.90490969 -0.12476858] yaw=-62.0deg [env.py: 1019] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:25:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=17.2ms, retries=224.5ms, total=241.7ms [env.py: 1075] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -0.905, -0.125) [env.py: 1079] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:25:57 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 00:25:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:25:57 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 00:25:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 00:25:57 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 00:25:57 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 00:25:57 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 00:25:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:25:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:25:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:25:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:25:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152607m [env.py: 870] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:25:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23727547 -1.06133341 -0.15260708] yaw=-35.7deg [env.py: 1019] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:25:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=18.5ms, retries=215.0ms, total=233.5ms [env.py: 1075] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.061, -0.153) [env.py: 1079] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.7 deg [env.py: 1082] +05/12 00:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:25:58 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 00:25:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 00:25:58 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 00:25:58 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 00:25:58 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 00:25:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:25:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:25:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:25:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:25:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121367m [env.py: 870] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:25:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2185665 -1.14610273 -0.12136655] yaw=-44.3deg [env.py: 1019] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:25:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.5ms, retries=204.8ms, total=221.3ms [env.py: 1075] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.146, -0.121) [env.py: 1079] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg [env.py: 1082] +05/12 00:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:25:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:25:58 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 00:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 27.827s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 28.921s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 28.698s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.788s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:26:27 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:26:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.791s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:27 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 00:26:28 INFO: [Worker 0] Warmed up parallel IK solver in 29.843s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148961m [env.py: 870] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112321m [env.py: 870] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=338.7ms, total=338.8ms [env.py: 1105] +05/12 00:26:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:26:29 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49381562 -1.00490685 -0.11232089] yaw=-62.0deg [env.py: 1019] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=318.2ms, total=318.3ms [env.py: 1075] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -1.005, -0.112) [env.py: 1079] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:26:29 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 00:26:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150057m [env.py: 870] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3331857 -1.12815642 -0.15005732] yaw=-45.4deg [env.py: 1019] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44021096 -1.10134286 -0.15005732] yaw=-41.5deg [env.py: 1019] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:26:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.6ms, total=211.6ms [env.py: 1075] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -1.128, -0.150) [env.py: 1079] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:26:31 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 00:26:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.950s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.703[m] 87.864[deg] [grasp_sample.py: 539] +05/12 00:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:26:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:33 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.684[m] 80.814[deg] [grasp_sample.py: 539] +05/12 00:26:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:26:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:26:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:26:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:26:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:26:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.153s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:35 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.718[m] 84.569[deg] [grasp_sample.py: 539] +05/12 00:26:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.786s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:35 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.719[m] 90.540[deg] [grasp_sample.py: 539] +05/12 00:26:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:26:36 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:26:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:26:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:26:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:26:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192540m [env.py: 870] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=227.0ms, total=227.1ms [env.py: 1105] +05/12 00:26:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:26:37 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:26:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152090m [env.py: 870] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56257343 -0.75865557 -0.15208984] yaw=-71.1deg [env.py: 1019] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:26:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.5ms, total=204.6ms [env.py: 1075] +05/12 00:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.759, -0.152) [env.py: 1079] +05/12 00:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/12 00:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 00:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:26:39 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 00:26:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.328s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:26:40 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:26:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128259m [env.py: 870] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51234466 -0.96183457 -0.12825918] yaw=-58.3deg [env.py: 1019] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51765932 -0.91194605 -0.12825918] yaw=-60.1deg [env.py: 1019] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32229847 -1.02738292 -0.12825918] yaw=-38.3deg [env.py: 1019] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:26:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=288.4ms, total=288.4ms [env.py: 1075] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -0.962, -0.128) [env.py: 1079] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 00:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:26:42 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 00:26:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.234s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:46 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.740[m] 78.313[deg] [grasp_sample.py: 539] +05/12 00:26:47 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:26:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193117m [env.py: 870] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39595329 -0.92234951 -0.19311739] yaw=-50.2deg [env.py: 1019] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:26:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=561.9ms, total=561.9ms [env.py: 1075] +05/12 00:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -0.922, -0.193) [env.py: 1079] +05/12 00:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/12 00:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 00:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:26:50 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 00:26:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.620s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.734[m] 86.061[deg] [grasp_sample.py: 539] +05/12 00:26:54 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112912m [env.py: 870] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48308531 -1.00389726 -0.11291171] yaw=-58.7deg [env.py: 1019] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65248604 -0.86298943 -0.11291171] yaw=-71.4deg [env.py: 1019] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1075] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -1.004, -0.113) [env.py: 1079] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/12 00:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:26:56 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 00:26:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:26:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:26:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:26:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:26:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.527s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:26:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.741[m] 90.225[deg] [grasp_sample.py: 539] +05/12 00:26:58 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:26:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:26:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:26:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131277m [env.py: 870] +05/12 00:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=489.8ms, total=489.8ms [env.py: 1105] +05/12 00:27:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:27:00 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:27:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:27:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:27:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:27:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:27:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:27:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:27:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138792m [env.py: 870] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:27:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35643619 -0.85418657 -0.13879199] yaw=-50.6deg [env.py: 1019] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24044728 -1.13413584 -0.13879199] yaw=-48.8deg [env.py: 1019] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=253.5ms, total=253.5ms [env.py: 1075] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -0.854, -0.139) [env.py: 1079] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:27:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:27:02 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 00:27:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:27:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:27:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:27:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:27:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:27:03 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:27:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:27:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:27:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:27:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:27:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137767m [env.py: 870] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42572251 -0.81839657 -0.13776664] yaw=-62.5deg [env.py: 1019] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5087639 -0.87428551 -0.13776664] yaw=-57.7deg [env.py: 1019] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=270.6ms, total=270.6ms [env.py: 1075] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.818, -0.138) [env.py: 1079] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 00:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:27:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:27:05 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 00:27:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:27:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:27:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:27:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.313s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:27:06 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:27:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:27:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:27:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:27:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:27:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:27:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:27:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124846m [env.py: 870] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:27:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43104664 -0.95055635 -0.1248457 ] yaw=-47.8deg [env.py: 1019] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:27:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=359.9ms, total=359.9ms [env.py: 1075] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.431, -0.951, -0.125) [env.py: 1079] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/12 00:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:27:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:27:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:27:08 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 00:27:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 00:27:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:27:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:27:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:27:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:27:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.747[m] 85.111[deg] [grasp_sample.py: 539] +05/12 00:27:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:27:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:27:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:27:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:27:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:27:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:27:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:27:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:27:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:54 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:27:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:27:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:27:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:27:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.179s, found 290 non-colliding grasps [grasp_sample.py: 465] +05/12 00:27:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.299s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:27:54 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.024[m] 0.729[deg] [grasp_sample.py: 539] +05/12 00:27:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:27:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:27:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:27:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:28:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:28:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:28:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:28:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.491s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:28:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.185[m] 15.799[deg] [grasp_sample.py: 539] +05/12 00:28:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:28:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:28:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:28:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:28:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:28:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:28:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.478s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:28:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.181[m] 15.274[deg] [grasp_sample.py: 539] +05/12 00:28:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:28:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:28:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:28:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:28:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:28:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:28:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:28:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.472s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:28:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.181[m] 15.274[deg] [grasp_sample.py: 539] +05/12 00:28:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:28:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:28:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:28:27 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:28:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:28:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:28:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:28:38 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:28:38 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=6.91s: + episode_total: mean=15.10s, total=151.03s, count=10, min=235.2ms, max=90633.1ms + sensor_polling: mean=313.9ms, total=49.29s, count=157, min=291.9ms, max=435.3ms + task_sampling: mean=864.3ms, total=6.91s, count=8, min=409.1ms, max=3050.4ms + task_specific_sample: mean=506.8ms, total=5.07s, count=10, min=232.1ms, max=872.1ms + physics_step: mean=19.3ms, total=3.03s, count=157, min=13.2ms, max=26.8ms + scene_load: mean=2.56s, total=2.56s, count=1, min=2557.7ms, max=2557.7ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1585.6ms, max=1585.6ms + scene_compile: mean=833.0ms, total=833.0ms, count=1, min=833.0ms, max=833.0ms + task_sampling_failed: mean=370.4ms, total=740.8ms, count=2, min=235.2ms, max=505.5ms + compile_mujoco: mean=553.4ms, total=553.4ms, count=1, min=553.4ms, max=553.4ms + compile_xml_load: mean=210.5ms, total=210.5ms, count=1, min=210.5ms, max=210.5ms + scene_init: mean=96.6ms, total=96.6ms, count=1, min=96.6ms, max=96.6ms + compile_aux_objects: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + compile_aux_policy_objects: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms + asset_install_grasps: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + scene_randomize: mean=1.1ms, total=11.1ms, count=10, min=0.9ms, max=1.3ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms + mj_forward_sync: mean=454.9us, total=4.5ms, count=10, min=0.4ms, max=0.6ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=19.6us, total=0.2ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:28:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:28:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:28:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:28:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:28:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:28:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:28:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:28:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175748m [env.py: 870] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:28:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35426418 -0.97563131 -0.17574819] yaw=-51.9deg [env.py: 1019] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29441988 -1.01188971 -0.17574819] yaw=-39.7deg [env.py: 1019] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:28:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.9ms, total=239.9ms [env.py: 1075] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -0.976, -0.176) [env.py: 1079] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 00:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:28:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:28:40 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 00:28:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:28:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:28:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:28:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:28:42 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.680[m] 86.940[deg] [grasp_sample.py: 539] +05/12 00:28:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:28:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:28:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:28:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:28:48 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:28:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:28:48 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 00:28:49 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:28:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:28:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:28:59 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 00:29:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:29:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:29:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.31s (batch: 4.01s, save: 9.31s) [pipeline.py: 300] +05/12 00:29:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.09s: + episode_total: mean=187.28s, total=187.28s, count=1, min=187280.2ms, max=187280.2ms + sensor_polling: mean=365.3ms, total=102.65s, count=281, min=298.6ms, max=739.0ms + save_trajectories: mean=9.31s, total=9.31s, count=1, min=9305.2ms, max=9305.2ms + physics_step: mean=23.9ms, total=6.71s, count=281, min=14.7ms, max=89.6ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.9ms, max=4005.9ms + task_sampling: mean=3.09s, total=3.09s, count=1, min=3086.3ms, max=3086.3ms + scene_load: mean=2.60s, total=2.60s, count=1, min=2602.1ms, max=2602.1ms + scene_env_create: mean=1.64s, total=1.64s, count=1, min=1639.9ms, max=1639.9ms + scene_compile: mean=821.9ms, total=821.9ms, count=1, min=821.9ms, max=821.9ms + compile_mujoco: mean=540.3ms, total=540.3ms, count=1, min=540.3ms, max=540.3ms + task_specific_sample: mean=481.8ms, total=481.8ms, count=1, min=481.8ms, max=481.8ms + compile_xml_load: mean=216.6ms, total=216.6ms, count=1, min=216.6ms, max=216.6ms + scene_init: mean=96.0ms, total=96.0ms, count=1, min=96.0ms, max=96.0ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms + asset_install_grasps: mean=30.2ms, total=30.2ms, count=1, min=30.2ms, max=30.2ms + asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=365.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=36.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:29:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103123m [env.py: 870] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50483801 -1.02503215 -0.10312269] yaw=-49.7deg [env.py: 1019] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56827521 -0.95200957 -0.10312269] yaw=-56.6deg [env.py: 1019] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:29:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.4ms [env.py: 1075] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -1.025, -0.103) [env.py: 1079] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 00:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:29:03 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 00:29:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 00:29:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.824s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:08 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.666[m] 83.785[deg] [grasp_sample.py: 539] +05/12 00:29:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:29:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:29:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:29:09 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103832m [env.py: 870] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55667441 -1.03407279 -0.10383237] yaw=-60.2deg [env.py: 1019] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.3ms, total=195.4ms [env.py: 1075] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -1.034, -0.104) [env.py: 1079] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/12 00:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:29:11 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 00:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:29:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:29:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.77s (batch: 3.64s, save: 9.13s) [pipeline.py: 300] +05/12 00:29:12 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.68s: + episode_total: mean=98.54s, total=197.07s, count=2, min=33860.6ms, max=163210.3ms + sensor_polling: mean=359.3ms, total=100.60s, count=280, min=301.4ms, max=656.4ms + save_trajectories: mean=9.13s, total=9.13s, count=1, min=9129.2ms, max=9129.2ms + physics_step: mean=23.0ms, total=6.45s, count=280, min=14.7ms, max=60.7ms + task_sampling: mean=1.84s, total=3.68s, count=2, min=548.7ms, max=3131.3ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.1ms, max=3641.1ms + scene_load: mean=2.64s, total=2.64s, count=1, min=2640.9ms, max=2640.9ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1586.5ms, max=1586.5ms + task_specific_sample: mean=516.5ms, total=1.03s, count=2, min=487.9ms, max=545.1ms + scene_compile: mean=908.2ms, total=908.2ms, count=1, min=908.2ms, max=908.2ms + compile_mujoco: mean=552.3ms, total=552.3ms, count=1, min=552.3ms, max=552.3ms + compile_xml_load: mean=289.6ms, total=289.6ms, count=1, min=289.6ms, max=289.6ms + scene_init: mean=101.8ms, total=101.8ms, count=1, min=101.8ms, max=101.8ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.0ms, max=2.0ms + mj_forward_sync: mean=506.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:29:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.057s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.648[m] 86.355[deg] [grasp_sample.py: 539] +05/12 00:29:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:29:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:29:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:29:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193549m [env.py: 870] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51302058 -0.79415127 -0.19354932] yaw=-63.1deg [env.py: 1019] +05/12 00:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:29:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms [env.py: 1075] +05/12 00:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.794, -0.194) [env.py: 1079] +05/12 00:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/12 00:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 00:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:29:14 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 00:29:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 00:29:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:29:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:29:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.45s (batch: 3.70s, save: 9.76s) [pipeline.py: 300] +05/12 00:29:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=3.93s: + episode_total: mean=68.96s, total=206.88s, count=3, min=356.9ms, max=172195.0ms + sensor_polling: mean=412.0ms, total=123.60s, count=300, min=318.7ms, max=644.6ms + save_trajectories: mean=9.76s, total=9.76s, count=1, min=9755.5ms, max=9755.5ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=15.3ms, max=63.0ms + task_sampling: mean=1.96s, total=3.93s, count=2, min=442.4ms, max=3486.0ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.7ms, max=3695.7ms + scene_load: mean=3.04s, total=3.04s, count=1, min=3035.8ms, max=3035.8ms + scene_env_create: mean=1.71s, total=1.71s, count=1, min=1708.8ms, max=1708.8ms + task_specific_sample: mean=410.9ms, total=1.23s, count=3, min=344.9ms, max=447.6ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1184.9ms, max=1184.9ms + compile_mujoco: mean=581.3ms, total=581.3ms, count=1, min=581.3ms, max=581.3ms + compile_xml_load: mean=524.7ms, total=524.7ms, count=1, min=524.7ms, max=524.7ms + task_sampling_failed: mean=356.8ms, total=356.8ms, count=1, min=356.8ms, max=356.8ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + compile_aux_objects: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + compile_aux_policy_objects: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + scene_asset_install: mean=43.7ms, total=43.7ms, count=1, min=43.7ms, max=43.7ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=21.4ms, total=21.4ms, count=1, min=21.4ms, max=21.4ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=0.9ms, max=1.4ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=437.9us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=21.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:29:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129149m [env.py: 870] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39079726 -0.8749507 -0.12914881] yaw=-64.8deg [env.py: 1019] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:29:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=317.3ms, total=317.3ms [env.py: 1075] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.875, -0.129) [env.py: 1079] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 00:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:29:25 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 00:29:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 00:29:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.764s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:27 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.768[m] 88.113[deg] [grasp_sample.py: 539] +05/12 00:29:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:27 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 00:29:28 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125119m [env.py: 870] +05/12 00:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33004548 -1.12634658 -0.12511896] yaw=-51.5deg [env.py: 1019] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=452.4ms, total=452.5ms [env.py: 1075] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.126, -0.125) [env.py: 1079] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:29:29 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 00:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:29:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196358m [env.py: 870] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=196.7ms, total=196.7ms [env.py: 1105] +05/12 00:29:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:29:29 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156692m [env.py: 870] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27513624 -0.97833735 -0.15669175] yaw=-55.4deg [env.py: 1019] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:29:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.1ms [env.py: 1075] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -0.978, -0.157) [env.py: 1079] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m [env.py: 1086] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:29:31 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 00:29:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 00:29:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.766s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:35 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.748[m] 87.872[deg] [grasp_sample.py: 539] +05/12 00:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:36 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:29:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:29:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:29:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:29:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:29:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:29:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:29:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134844m [env.py: 870] +05/12 00:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:29:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44238143 -1.00099031 -0.13484432] yaw=-46.6deg [env.py: 1019] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15112889 -1.05427692 -0.13484432] yaw=-34.6deg [env.py: 1019] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:29:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=274.6ms, total=274.6ms [env.py: 1075] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.001, -0.135) [env.py: 1079] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:29:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:29:38 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 00:29:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 00:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.828s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:38 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.701[m] 78.489[deg] [grasp_sample.py: 539] +05/12 00:29:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:29:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.725s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 63.148[deg] [grasp_sample.py: 539] +05/12 00:29:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:29:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:29:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:29:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:29:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:29:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.394s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.696[m] 89.774[deg] [grasp_sample.py: 539] +05/12 00:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:29:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:29:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:29:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:29:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:29:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:29:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:29:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.433s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:29:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 63.147[deg] [grasp_sample.py: 539] +05/12 00:29:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:29:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:29:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:30:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:30:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:30:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:30:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.374s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:30:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 63.147[deg] [grasp_sample.py: 539] +05/12 00:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:30:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:30:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:30:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:30:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:30:17 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:30:17 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.83s: + episode_total: mean=36.55s, total=73.11s, count=2, min=5894.9ms, max=67213.6ms + sensor_polling: mean=334.8ms, total=23.44s, count=70, min=303.0ms, max=499.3ms + physics_step: mean=18.2ms, total=1.27s, count=70, min=13.1ms, max=26.8ms + task_sampling: mean=416.0ms, total=831.9ms, count=2, min=396.8ms, max=435.1ms + task_specific_sample: mean=412.7ms, total=825.4ms, count=2, min=394.2ms, max=431.2ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms + mj_forward_sync: mean=506.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:30:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:30:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:30:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:30:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:30:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:30:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:30:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121138m [env.py: 870] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:30:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29283243 -0.87751738 -0.12113817] yaw=-60.4deg [env.py: 1019] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:30:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.2ms, total=246.2ms [env.py: 1075] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.878, -0.121) [env.py: 1079] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 00:30:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:30:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:30:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:30:19 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 00:30:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 00:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:30:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:30:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:30:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.580s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:30:21 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:30:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:30:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:30:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:30:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:30:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:30:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:30:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:30:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160444m [env.py: 870] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:30:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27832933 -1.09814413 -0.16044377] yaw=-45.4deg [env.py: 1019] +05/12 00:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:30:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=252.2ms, total=252.2ms [env.py: 1075] +05/12 00:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.098, -0.160) [env.py: 1079] +05/12 00:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 00:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 00:30:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:30:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:30:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:30:23 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 00:30:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:30:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:30:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:30:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:27 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.059s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:30:28 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.698[m] 76.446[deg] [grasp_sample.py: 539] +05/12 00:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:29 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:30:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:30:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:30:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:30:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:30:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:30:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:30:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159976m [env.py: 870] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:30:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43728435 -1.06289536 -0.1599755 ] yaw=-60.5deg [env.py: 1019] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50344663 -0.94430928 -0.1599755 ] yaw=-54.6deg [env.py: 1019] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54138617 -0.90615162 -0.1599755 ] yaw=-63.0deg [env.py: 1019] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:30:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.4ms, total=99.4ms [env.py: 1075] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -1.063, -0.160) [env.py: 1079] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.5 deg [env.py: 1082] +05/12 00:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:30:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:30:31 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 00:30:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 00:30:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:30:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:30:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:30:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:30:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.643[m] 82.115[deg] [grasp_sample.py: 539] +05/12 00:30:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:30:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:30:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:30:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:30:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:30:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:30:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:30:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:30:46 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:30:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:30:46 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 00:30:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:30:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:30:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:30:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.94s (batch: 3.55s, save: 8.39s) [pipeline.py: 300] +05/12 00:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:30:59 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.46s: + episode_total: mean=138.96s, total=138.96s, count=1, min=138955.3ms, max=138955.3ms + sensor_polling: mean=344.5ms, total=94.04s, count=273, min=292.5ms, max=522.9ms + save_trajectories: mean=8.39s, total=8.39s, count=1, min=8392.1ms, max=8392.1ms + physics_step: mean=23.1ms, total=6.31s, count=273, min=18.9ms, max=68.2ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3550.6ms, max=3550.6ms + task_sampling: mean=456.0ms, total=456.0ms, count=1, min=456.0ms, max=456.0ms + task_specific_sample: mean=453.5ms, total=453.5ms, count=1, min=453.5ms, max=453.5ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=446.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:31:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:31:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:31:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:31:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:31:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:31:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:31:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:31:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:31:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:31:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120708m [env.py: 870] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:31:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33070458 -0.86298398 -0.12070817] yaw=-44.8deg [env.py: 1019] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:31:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.0ms, total=210.0ms [env.py: 1075] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.863, -0.121) [env.py: 1079] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/12 00:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:31:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:31:01 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 00:31:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 00:31:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:31:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:31:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:31:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.389s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:31:02 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:31:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.810s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:31:02 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.459[m] 54.908[deg] [grasp_sample.py: 539] +05/12 00:31:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:31:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:31:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:31:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:31:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:31:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:31:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:31:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:31:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:31:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127103m [env.py: 870] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:31:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19511181 -1.15964829 -0.12710319] yaw=-32.1deg [env.py: 1019] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16960177 -1.04887678 -0.12710319] yaw=-40.1deg [env.py: 1019] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:31:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=278.4ms, total=278.4ms [env.py: 1075] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -1.160, -0.127) [env.py: 1079] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.1 deg [env.py: 1082] +05/12 00:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:31:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:31:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:31:04 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 00:31:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 00:31:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:31:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:31:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:31:13 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.690[m] 90.346[deg] [grasp_sample.py: 539] +05/12 00:31:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:31:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:31:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:31:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:31:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:31:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:31:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:31:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:31:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:31:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.459[m] 54.911[deg] [grasp_sample.py: 539] +05/12 00:31:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:31:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:31:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:31:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:31:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:31:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:31:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:31:28 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:31:30 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:31:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.106s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:31:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.459[m] 54.911[deg] [grasp_sample.py: 539] +05/12 00:31:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:31:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:31:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:31:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:31:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:31:43 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:31:43 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=1.22s: + episode_total: mean=27.26s, total=81.79s, count=3, min=2261.2ms, max=72547.9ms + sensor_polling: mean=333.1ms, total=26.31s, count=79, min=299.0ms, max=470.9ms + physics_step: mean=19.2ms, total=1.52s, count=79, min=13.1ms, max=29.8ms + task_sampling: mean=408.3ms, total=1.22s, count=3, min=297.6ms, max=463.7ms + task_specific_sample: mean=405.8ms, total=1.22s, count=3, min=295.4ms, max=461.1ms + scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=1.0ms, max=1.2ms + mj_forward_sync: mean=394.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=22.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:31:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:31:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:31:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:31:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110564m [env.py: 870] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61653938 -0.95622291 -0.11056378] yaw=-65.6deg [env.py: 1019] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.5ms, total=253.5ms [env.py: 1075] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.617, -0.956, -0.111) [env.py: 1079] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg [env.py: 1082] +05/12 00:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:31:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:31:45 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 00:31:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 00:31:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:31:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:31:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:31:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:31:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:31:46 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 00:31:49 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:31:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:31:49 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 00:31:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.500s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:31:54 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.687[m] 88.969[deg] [grasp_sample.py: 539] +05/12 00:31:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:31:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:31:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:31:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:31:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:31:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.84s (batch: 3.17s, save: 8.67s) [pipeline.py: 300] +05/12 00:31:59 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.39s: + episode_total: mean=40.36s, total=161.43s, count=4, min=205.4ms, max=141382.6ms + sensor_polling: mean=330.4ms, total=91.53s, count=277, min=302.8ms, max=482.0ms + save_trajectories: mean=8.67s, total=8.67s, count=1, min=8669.2ms, max=8669.2ms + physics_step: mean=22.4ms, total=6.21s, count=277, min=15.1ms, max=34.0ms + save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3166.7ms, max=3166.7ms + task_specific_sample: mean=395.0ms, total=1.58s, count=4, min=201.8ms, max=560.0ms + task_sampling: mean=462.2ms, total=1.39s, count=3, min=396.6ms, max=562.2ms + task_sampling_failed: mean=205.4ms, total=205.4ms, count=1, min=205.4ms, max=205.4ms + scene_randomize: mean=1.4ms, total=5.4ms, count=4, min=0.9ms, max=2.7ms + mj_forward_sync: mean=381.0us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=20.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:32:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:32:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:32:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:32:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:32:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:32:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:32:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191179m [env.py: 870] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:32:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27127393 -0.90882419 -0.19117862] yaw=-44.6deg [env.py: 1019] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13208608 -1.04895107 -0.19117862] yaw=-37.2deg [env.py: 1019] +05/12 00:32:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:32:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=432.2ms, total=432.2ms [env.py: 1075] +05/12 00:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -0.909, -0.191) [env.py: 1079] +05/12 00:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 00:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 00:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:32:01 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 00:32:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 00:32:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:32:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:32:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:32:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:32:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:32:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.52s (batch: 3.36s, save: 9.16s) [pipeline.py: 300] +05/12 00:32:02 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.23s: + episode_total: mean=78.41s, total=156.82s, count=2, min=3119.7ms, max=153697.5ms + sensor_polling: mean=367.9ms, total=101.54s, count=276, min=324.7ms, max=582.5ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9156.9ms, max=9156.9ms + physics_step: mean=22.2ms, total=6.12s, count=276, min=18.5ms, max=61.0ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3361.5ms, max=3361.5ms + task_sampling: mean=615.0ms, total=1.23s, count=2, min=569.1ms, max=660.8ms + task_specific_sample: mean=611.5ms, total=1.22s, count=2, min=565.3ms, max=657.8ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms + mj_forward_sync: mean=425.3us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=31.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:32:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.913s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:32:03 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:32:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:32:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:32:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:32:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:32:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:32:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:32:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145816m [env.py: 870] +05/12 00:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:32:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38403249 -1.0385009 -0.14581573] yaw=-41.1deg [env.py: 1019] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60415007 -0.89456067 -0.14581573] yaw=-78.7deg [env.py: 1019] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:32:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.6ms, total=247.7ms [env.py: 1075] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.039, -0.146) [env.py: 1079] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:32:04 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 00:32:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 00:32:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:32:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:32:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:32:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:32:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:32:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:32:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199418m [env.py: 870] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.2ms, total=201.3ms [env.py: 1105] +05/12 00:32:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:32:05 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:32:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:32:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:32:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186702m [env.py: 870] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36236967 -1.00188629 -0.18670229] yaw=-49.5deg [env.py: 1019] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:32:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.716[m] 84.815[deg] [grasp_sample.py: 539] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1327968 -1.09259917 -0.18670229] yaw=-33.2deg [env.py: 1019] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30452406 -1.1987172 -0.18670229] yaw=-48.4deg [env.py: 1019] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.4ms [env.py: 1075] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.002, -0.187) [env.py: 1079] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 00:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:32:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:32:06 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 00:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:32:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:32:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:32:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:32:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:32:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:32:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:32:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:32:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.708[m] 84.966[deg] [grasp_sample.py: 539] +05/12 00:32:09 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:32:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:32:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:32:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:32:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:32:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:32:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121039m [env.py: 870] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:32:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.8ms, total=194.9ms [env.py: 1105] +05/12 00:32:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:32:10 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:32:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:32:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:32:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:32:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:32:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:32:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:32:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133752m [env.py: 870] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:32:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41407408 -0.93238114 -0.13375246] yaw=-63.9deg [env.py: 1019] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:32:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.7ms [env.py: 1075] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -0.932, -0.134) [env.py: 1079] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.9 deg [env.py: 1082] +05/12 00:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:32:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:32:12 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 00:32:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 00:32:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:32:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.988s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:32:27 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.781[m] 89.345[deg] [grasp_sample.py: 539] +05/12 00:32:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:32:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:32:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:32:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:32:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:32:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:32:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:32:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.677s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:32:58 INFO: [Worker 0] Feasible grasp found 194 (originally 194): w/ 0.244[m] 19.116[deg] [grasp_sample.py: 539] +05/12 00:32:59 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:33:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:33:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:33:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:33:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:33:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:33:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184914m [env.py: 870] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:33:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58745286 -0.75261588 -0.18491426] yaw=-72.6deg [env.py: 1019] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44374965 -1.02140436 -0.18491426] yaw=-65.6deg [env.py: 1019] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:33:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms [env.py: 1075] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.587, -0.753, -0.185) [env.py: 1079] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 00:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:33:00 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 00:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 00:33:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:33:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:33:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:33:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:33:01 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:33:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.450s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:33:02 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:33:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:33:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:33:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:33:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:33:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:33:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129380m [env.py: 870] +05/12 00:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:33:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59224166 -0.9103282 -0.12938019] yaw=-67.7deg [env.py: 1019] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:33:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.7ms, total=280.7ms [env.py: 1075] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.910, -0.129) [env.py: 1079] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 00:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 00:33:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:33:04 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 00:33:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 00:33:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:33:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:33:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:33:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.684s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:33:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 82.846[deg] [grasp_sample.py: 539] +05/12 00:33:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:33:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:33:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:33:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:33:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:33:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:33:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:33:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:33:20 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 00:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:33:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:33:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.12s (batch: 3.25s, save: 8.87s) [pipeline.py: 300] +05/12 00:33:32 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.95s: + episode_total: mean=75.50s, total=151.00s, count=2, min=2052.9ms, max=148951.7ms + sensor_polling: mean=362.0ms, total=99.56s, count=275, min=301.0ms, max=588.4ms + save_trajectories: mean=8.87s, total=8.87s, count=1, min=8867.0ms, max=8867.0ms + physics_step: mean=23.7ms, total=6.52s, count=275, min=19.2ms, max=32.0ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3253.3ms, max=3253.3ms + task_sampling: mean=475.0ms, total=950.1ms, count=2, min=466.4ms, max=483.7ms + task_specific_sample: mean=471.5ms, total=942.9ms, count=2, min=461.5ms, max=481.4ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=0.9ms, max=3.3ms + mj_forward_sync: mean=472.1us, total=0.9ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:33:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:33:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:33:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:33:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:33:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135201m [env.py: 870] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:33:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.5ms, total=218.5ms [env.py: 1105] +05/12 00:33:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:33:34 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:33:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:33:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:33:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:33:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:33:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.522s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:33:35 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.196[m] 16.636[deg] [grasp_sample.py: 539] +05/12 00:33:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:33:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:33:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:33:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:33:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:33:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:33:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103166m [env.py: 870] +05/12 00:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:33:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:33:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.0ms, total=205.0ms [env.py: 1105] +05/12 00:33:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:33:36 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:33:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:33:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:33:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:33:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:33:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:33:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:33:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:33:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135368m [env.py: 870] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:33:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.1ms, total=218.1ms [env.py: 1105] +05/12 00:33:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:33:37 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:33:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:33:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:33:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:33:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:33:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:33:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118446m [env.py: 870] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:33:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34974154 -1.17712558 -0.11844565] yaw=-35.1deg [env.py: 1019] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:33:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.5ms [env.py: 1075] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.177, -0.118) [env.py: 1079] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg [env.py: 1082] +05/12 00:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:33:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:33:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:33:39 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 00:33:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 00:33:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:33:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:33:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.525s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:33:42 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.644[m] 87.890[deg] [grasp_sample.py: 539] +05/12 00:33:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:33:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:33:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:33:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:33:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:33:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:34:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:21 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:34:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:34:21 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 00:34:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.541s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:34:26 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.044[m] 6.622[deg] [grasp_sample.py: 539] +05/12 00:34:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:34:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:34:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:34:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:34:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:34:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:34:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.60s (batch: 3.59s, save: 9.01s) [pipeline.py: 300] +05/12 00:34:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:34:34 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.189[m] 16.928[deg] [grasp_sample.py: 539] +05/12 00:34:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:34:35 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.53s: + episode_total: mean=151.08s, total=151.08s, count=1, min=151078.6ms, max=151078.6ms + sensor_polling: mean=361.8ms, total=101.29s, count=280, min=314.7ms, max=536.3ms + save_trajectories: mean=9.01s, total=9.01s, count=1, min=9010.8ms, max=9010.8ms + physics_step: mean=21.6ms, total=6.06s, count=280, min=19.5ms, max=48.6ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3589.2ms, max=3589.2ms + task_sampling: mean=528.2ms, total=528.2ms, count=1, min=528.2ms, max=528.2ms + task_specific_sample: mean=524.1ms, total=524.1ms, count=1, min=524.1ms, max=524.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=487.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=56.6us, total=0.1ms, count=1, min=0.1ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:34:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:34:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:34:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149566m [env.py: 870] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=230.2ms, total=230.3ms [env.py: 1105] +05/12 00:34:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:34:36 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:34:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:34:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129766m [env.py: 870] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22971998 -0.92422922 -0.12976644] yaw=-47.2deg [env.py: 1019] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:34:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=217.6ms, total=217.7ms [env.py: 1075] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -0.924, -0.130) [env.py: 1079] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/12 00:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:34:38 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 00:34:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 00:34:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.022s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:34:39 INFO: [Worker 0] Feasible grasp found 120 (originally 120): w/ 0.518[m] 32.414[deg] [grasp_sample.py: 539] +05/12 00:34:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:34:39 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:34:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:41 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159522m [env.py: 870] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32407599 -1.20350984 -0.15952165] yaw=-46.9deg [env.py: 1019] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:34:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.2ms, total=209.2ms [env.py: 1075] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.204, -0.160) [env.py: 1079] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 00:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:34:41 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 00:34:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:34:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142759m [env.py: 870] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=363.4ms, total=363.4ms [env.py: 1105] +05/12 00:34:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:34:43 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194091m [env.py: 870] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22058436 -1.17994016 -0.19409084] yaw=-44.0deg [env.py: 1019] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47650552 -0.94645626 -0.19409084] yaw=-63.8deg [env.py: 1019] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=432.0ms, total=432.0ms [env.py: 1075] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.180, -0.194) [env.py: 1079] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg [env.py: 1082] +05/12 00:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.072s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:34:44 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.604[m] 86.070[deg] [grasp_sample.py: 539] +05/12 00:34:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:34:44 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 00:34:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:34:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:34:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.678[m] 84.656[deg] [grasp_sample.py: 539] +05/12 00:34:46 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:34:46 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:34:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183155m [env.py: 870] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38359274 -1.16043311 -0.18315479] yaw=-40.7deg [env.py: 1019] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:34:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.1ms, total=233.1ms [env.py: 1075] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.160, -0.183) [env.py: 1079] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 00:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:34:47 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 00:34:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:34:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:48 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:34:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134729m [env.py: 870] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18892258 -0.96370325 -0.13472894] yaw=-55.4deg [env.py: 1019] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:34:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.1ms [env.py: 1075] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -0.964, -0.135) [env.py: 1079] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 00:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:34:48 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 00:34:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:34:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:34:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.980s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:34:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.589[m] 85.935[deg] [grasp_sample.py: 539] +05/12 00:34:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:34:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:34:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:34:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.534s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:34:50 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:34:50 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 00:34:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138550m [env.py: 870] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=266.4ms, total=266.4ms [env.py: 1105] +05/12 00:34:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:34:51 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:34:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:34:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:34:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:34:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:34:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:34:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106547m [env.py: 870] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:34:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55406928 -0.80766926 -0.10654679] yaw=-75.6deg [env.py: 1019] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:34:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.0ms [env.py: 1075] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.808, -0.107) [env.py: 1079] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.6 deg [env.py: 1082] +05/12 00:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:34:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:34:53 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 00:34:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:34:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:34:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:34:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:35:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.238s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:35:00 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.801[m] 96.063[deg] [grasp_sample.py: 539] +05/12 00:35:01 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:35:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104885m [env.py: 870] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.9ms, total=214.9ms [env.py: 1105] +05/12 00:35:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:35:02 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:35:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198213m [env.py: 870] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35835861 -0.88334688 -0.19821273] yaw=-56.1deg [env.py: 1019] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:35:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms [env.py: 1075] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -0.883, -0.198) [env.py: 1079] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/12 00:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:35:04 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 00:35:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 00:35:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:35:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:35:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:35:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:35:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:35:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:35:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.960s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:35:20 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.732[m] 91.279[deg] [grasp_sample.py: 539] +05/12 00:35:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:35:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:35:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.98s (batch: 3.41s, save: 9.56s) [pipeline.py: 300] +05/12 00:35:21 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:35:22 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:35:22 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.48s: + episode_total: mean=39.30s, total=196.50s, count=5, min=202.3ms, max=190282.8ms + sensor_polling: mean=358.5ms, total=107.55s, count=300, min=295.3ms, max=582.7ms + save_trajectories: mean=9.56s, total=9.56s, count=1, min=9564.7ms, max=9564.7ms + physics_step: mean=23.2ms, total=6.95s, count=300, min=15.6ms, max=105.9ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3414.8ms, max=3414.8ms + task_specific_sample: mean=375.6ms, total=1.88s, count=5, min=199.5ms, max=690.8ms + task_sampling: mean=493.3ms, total=1.48s, count=3, min=343.3ms, max=694.4ms + task_sampling_failed: mean=206.1ms, total=412.2ms, count=2, min=202.2ms, max=210.0ms + scene_randomize: mean=1.2ms, total=5.9ms, count=5, min=0.9ms, max=2.2ms + mj_forward_sync: mean=387.6us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188823m [env.py: 870] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20010474 -1.04924651 -0.18882266] yaw=-46.1deg [env.py: 1019] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20205374 -1.00633121 -0.18882266] yaw=-54.3deg [env.py: 1019] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.0ms, total=219.0ms [env.py: 1075] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.049, -0.189) [env.py: 1079] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:35:23 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 00:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 00:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:35:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:35:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141749m [env.py: 870] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.6ms, total=224.6ms [env.py: 1105] +05/12 00:35:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:35:24 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123203m [env.py: 870] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32499479 -1.21238652 -0.12320266] yaw=-47.9deg [env.py: 1019] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60151302 -0.79676848 -0.12320266] yaw=-66.8deg [env.py: 1019] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms [env.py: 1075] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.212, -0.123) [env.py: 1079] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 00:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:35:26 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 00:35:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 00:35:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:35:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:35:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:35:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.500s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:35:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.644[m] 85.295[deg] [grasp_sample.py: 539] +05/12 00:35:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:35:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:35:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:35:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.129s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:35:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.719[m] 83.002[deg] [grasp_sample.py: 539] +05/12 00:35:35 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:35:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:35:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141649m [env.py: 870] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=328.6ms, total=328.6ms [env.py: 1105] +05/12 00:35:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:35:37 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:35:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182306m [env.py: 870] +05/12 00:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38754133 -1.11227238 -0.18230588] yaw=-36.3deg [env.py: 1019] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11493846 -1.05152766 -0.18230588] yaw=-44.1deg [env.py: 1019] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24731194 -1.15606977 -0.18230588] yaw=-47.6deg [env.py: 1019] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:35:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=268.5ms, total=268.6ms [env.py: 1075] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.112, -0.182) [env.py: 1079] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg [env.py: 1082] +05/12 00:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 00:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:35:39 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 00:35:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 00:35:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:35:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:35:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:35:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:35:42 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.615[m] 81.224[deg] [grasp_sample.py: 539] +05/12 00:35:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:35:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:35:42 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 00:35:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:35:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:35:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:35:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:35:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:35:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:35:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:35:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:35:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.21s (batch: 3.32s, save: 8.88s) [pipeline.py: 300] +05/12 00:35:54 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.51s: + episode_total: mean=34.13s, total=136.51s, count=4, min=213.0ms, max=135840.1ms + sensor_polling: mean=334.1ms, total=89.54s, count=268, min=301.4ms, max=601.5ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8883.7ms, max=8883.7ms + physics_step: mean=22.0ms, total=5.90s, count=268, min=19.4ms, max=55.0ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3321.5ms, max=3321.5ms + task_specific_sample: mean=290.9ms, total=1.16s, count=4, min=209.8ms, max=506.4ms + task_sampling_failed: mean=223.1ms, total=669.2ms, count=3, min=213.0ms, max=230.8ms + task_sampling: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms + scene_randomize: mean=1.3ms, total=5.1ms, count=4, min=0.9ms, max=2.3ms + mj_forward_sync: mean=392.5us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:35:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:35:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:35:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:35:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:35:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:35:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114836m [env.py: 870] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:35:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44570591 -0.98284511 -0.11483613] yaw=-63.1deg [env.py: 1019] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:35:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.4ms [env.py: 1075] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -0.983, -0.115) [env.py: 1079] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/12 00:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:35:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:35:56 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 00:35:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 00:35:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:35:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:35:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:35:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:35:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.716[m] 99.784[deg] [grasp_sample.py: 539] +05/12 00:35:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:35:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:35:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:35:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:36:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:36:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:36:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:36:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:36:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:36:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:36:35 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:36:54 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:36:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:36:54 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 00:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:36:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:37:04 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:37:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:37:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:37:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:37:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.03s (batch: 3.98s, save: 10.05s) [pipeline.py: 300] +05/12 00:37:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.33s: + episode_total: mean=37.22s, total=148.86s, count=4, min=245.1ms, max=141866.3ms + sensor_polling: mean=385.2ms, total=98.24s, count=255, min=314.9ms, max=562.6ms + save_trajectories: mean=10.05s, total=10.05s, count=1, min=10050.0ms, max=10050.0ms + physics_step: mean=23.3ms, total=5.95s, count=255, min=19.3ms, max=63.9ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3982.6ms, max=3982.6ms + task_specific_sample: mean=389.5ms, total=1.56s, count=4, min=236.2ms, max=467.5ms + task_sampling: mean=443.3ms, total=1.33s, count=3, min=414.1ms, max=470.2ms + task_sampling_failed: mean=245.1ms, total=245.1ms, count=1, min=245.1ms, max=245.1ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.0ms, max=2.3ms + mj_forward_sync: mean=468.0us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=19.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171134m [env.py: 870] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11052664 -1.0636514 -0.17113442] yaw=-37.2deg [env.py: 1019] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26243451 -1.14300404 -0.17113442] yaw=-50.9deg [env.py: 1019] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=382.1ms, total=382.1ms [env.py: 1075] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.111, -1.064, -0.171) [env.py: 1079] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg [env.py: 1082] +05/12 00:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:11 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.405s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:37:12 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:37:13 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:37:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197947m [env.py: 870] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=292.0ms, total=292.1ms [env.py: 1105] +05/12 00:37:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:37:14 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187586m [env.py: 870] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43779131 -0.85825738 -0.18758613] yaw=-59.3deg [env.py: 1019] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47748423 -1.04576529 -0.18758613] yaw=-51.2deg [env.py: 1019] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39376683 -0.97316007 -0.18758613] yaw=-61.2deg [env.py: 1019] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.2ms, total=119.3ms [env.py: 1075] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.858, -0.188) [env.py: 1079] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 00:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:16 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:37:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:37:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:37:23 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 00:37:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.011s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:37:25 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.737[m] 88.825[deg] [grasp_sample.py: 539] +05/12 00:37:26 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122399m [env.py: 870] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=411.9ms, total=412.0ms [env.py: 1105] +05/12 00:37:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:37:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105898m [env.py: 870] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30574688 -0.87752637 -0.10589754] yaw=-54.4deg [env.py: 1019] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.6ms, total=198.6ms [env.py: 1075] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -0.878, -0.106) [env.py: 1079] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 00:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:30 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:30 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:37:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:37:30 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/12 00:37:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.397s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:37:31 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:37:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100349m [env.py: 870] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34392311 -0.9567108 -0.10034875] yaw=-62.8deg [env.py: 1019] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15084794 -1.11112081 -0.10034875] yaw=-28.1deg [env.py: 1019] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.0ms, total=208.1ms [env.py: 1075] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -0.957, -0.100) [env.py: 1079] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/12 00:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:33 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:37:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:37:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.36s (batch: 3.31s, save: 9.06s) [pipeline.py: 300] +05/12 00:37:35 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s: + episode_total: mean=65.31s, total=130.62s, count=2, min=237.6ms, max=130382.6ms + sensor_polling: mean=332.9ms, total=87.89s, count=264, min=306.2ms, max=502.8ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9057.4ms, max=9057.4ms + physics_step: mean=22.1ms, total=5.84s, count=264, min=14.9ms, max=41.3ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3306.3ms, max=3306.3ms + task_specific_sample: mean=335.8ms, total=671.6ms, count=2, min=232.3ms, max=439.3ms + task_sampling: mean=441.7ms, total=441.7ms, count=1, min=441.7ms, max=441.7ms + task_sampling_failed: mean=237.6ms, total=237.6ms, count=1, min=237.6ms, max=237.6ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=0.9ms, max=2.9ms + mj_forward_sync: mean=465.1us, total=0.9ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:37:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158780m [env.py: 870] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42240584 -0.78103212 -0.15878027] yaw=-51.3deg [env.py: 1019] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=558.5ms, total=558.5ms [env.py: 1075] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.781, -0.159) [env.py: 1079] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 00:37:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:38 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.050s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:37:38 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.763[m] 93.798[deg] [grasp_sample.py: 539] +05/12 00:37:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:37:39 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:37:39 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:37:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155610m [env.py: 870] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48163013 -1.00124938 -0.15560956] yaw=-53.5deg [env.py: 1019] +05/12 00:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.0ms, total=196.1ms [env.py: 1075] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -1.001, -0.156) [env.py: 1079] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:41 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171665m [env.py: 870] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20525489 -0.97551297 -0.17166529] yaw=-51.3deg [env.py: 1019] +05/12 00:37:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31866258 -1.17826373 -0.17166529] yaw=-41.1deg [env.py: 1019] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=204.9ms [env.py: 1075] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -0.976, -0.172) [env.py: 1079] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 00:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:41 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:37:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:37:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.77s (batch: 2.87s, save: 8.90s) [pipeline.py: 300] +05/12 00:37:43 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=4.30s: + episode_total: mean=26.27s, total=341.51s, count=13, min=226.8ms, max=124371.7ms + sensor_polling: mean=327.5ms, total=180.12s, count=550, min=287.2ms, max=511.9ms + physics_step: mean=21.4ms, total=11.75s, count=550, min=14.8ms, max=42.0ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8901.0ms, max=8901.0ms + task_specific_sample: mean=421.2ms, total=5.48s, count=13, min=220.9ms, max=656.1ms + task_sampling: mean=478.2ms, total=4.30s, count=9, min=397.4ms, max=659.2ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2869.9ms, max=2869.9ms + task_sampling_failed: mean=308.6ms, total=1.23s, count=4, min=226.8ms, max=371.4ms + scene_randomize: mean=1.1ms, total=14.3ms, count=13, min=0.9ms, max=1.3ms + mj_forward_sync: mean=426.8us, total=5.5ms, count=13, min=0.4ms, max=0.6ms + policy_setup: mean=15.5us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:37:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.585s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:37:43 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:37:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197047m [env.py: 870] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34596111 -1.04905258 -0.19704691] yaw=-42.2deg [env.py: 1019] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.1ms, total=216.1ms [env.py: 1075] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -1.049, -0.197) [env.py: 1079] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130853m [env.py: 870] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49170027 -0.92294849 -0.13085341] yaw=-71.7deg [env.py: 1019] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28862978 -0.93601267 -0.13085341] yaw=-41.3deg [env.py: 1019] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=235.1ms, total=235.1ms [env.py: 1075] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -0.923, -0.131) [env.py: 1079] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.7 deg [env.py: 1082] +05/12 00:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 00:37:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:45 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:45 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.194s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:37:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.669[m] 95.258[deg] [grasp_sample.py: 539] +05/12 00:37:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:37:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:37:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:37:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:37:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.744[m] 96.552[deg] [grasp_sample.py: 539] +05/12 00:37:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:37:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.628s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:37:47 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.716[m] 88.530[deg] [grasp_sample.py: 539] +05/12 00:37:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:37:48 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:37:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:37:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:37:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:37:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148666m [env.py: 870] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.7ms, total=206.8ms [env.py: 1105] +05/12 00:37:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:37:49 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:37:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:37:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.367s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:37:51 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.033[m] 5.638[deg] [grasp_sample.py: 539] +05/12 00:37:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:37:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182140m [env.py: 870] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1105] +05/12 00:37:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:37:51 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:37:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:37:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:37:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149348m [env.py: 870] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=217.0ms, total=217.0ms [env.py: 1105] +05/12 00:37:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:37:53 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:37:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:37:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:37:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:37:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:37:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:37:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199183m [env.py: 870] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:37:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51382502 -0.86504406 -0.19918257] yaw=-64.6deg [env.py: 1019] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:37:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms [env.py: 1075] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.865, -0.199) [env.py: 1079] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 00:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:37:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:37:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:37:54 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 00:37:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 00:37:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:37:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:37:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:37:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.206s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:37:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.678[m] 83.217[deg] [grasp_sample.py: 539] +05/12 00:37:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:37:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:37:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:37:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:38:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:06 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:38:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:38:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:38:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:38:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:38:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.597s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:38:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.522[m] 68.524[deg] [grasp_sample.py: 539] +05/12 00:38:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:38:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105361m [env.py: 870] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.8ms, total=200.9ms [env.py: 1105] +05/12 00:38:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:38:17 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:38:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155635m [env.py: 870] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.587952 -0.81428232 -0.15563503] yaw=-57.6deg [env.py: 1019] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.0ms, total=249.1ms [env.py: 1075] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.588, -0.814, -0.156) [env.py: 1079] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 00:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:38:19 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 00:38:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 00:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:38:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:38:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:38:27 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:38:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:38:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:38:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.137s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:38:32 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.732[m] 89.401[deg] [grasp_sample.py: 539] +05/12 00:38:33 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:38:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127161m [env.py: 870] +05/12 00:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.6ms [env.py: 1105] +05/12 00:38:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:38:35 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:38:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108277m [env.py: 870] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.6ms, total=209.6ms [env.py: 1105] +05/12 00:38:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:38:36 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:38:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158396m [env.py: 870] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.5ms, total=193.5ms [env.py: 1105] +05/12 00:38:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:38:38 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190290m [env.py: 870] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14998299 -1.00029588 -0.19028988] yaw=-49.9deg [env.py: 1019] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42735547 -0.83555139 -0.19028988] yaw=-52.9deg [env.py: 1019] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18622779 -0.9697279 -0.19028988] yaw=-46.5deg [env.py: 1019] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms [env.py: 1075] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.150, -1.000, -0.190) [env.py: 1079] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 00:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:38:39 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 00:38:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 00:38:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:38:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:38:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:38:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:38:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:38:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.92s (batch: 3.64s, save: 10.27s) [pipeline.py: 300] +05/12 00:38:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:38:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.307s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:38:41 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:38:41 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.41s: + episode_total: mean=165.61s, total=165.61s, count=1, min=165606.4ms, max=165606.4ms + sensor_polling: mean=365.3ms, total=109.60s, count=300, min=301.3ms, max=570.7ms + save_trajectories: mean=10.27s, total=10.27s, count=1, min=10274.7ms, max=10274.7ms + physics_step: mean=23.2ms, total=6.97s, count=300, min=15.0ms, max=32.9ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3640.4ms, max=3640.4ms + task_sampling: mean=410.9ms, total=410.9ms, count=1, min=410.9ms, max=410.9ms + task_specific_sample: mean=407.3ms, total=407.3ms, count=1, min=407.3ms, max=407.3ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=385.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:38:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189805m [env.py: 870] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31014835 -1.06551522 -0.18980499] yaw=-55.3deg [env.py: 1019] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46089968 -0.8614688 -0.18980499] yaw=-68.7deg [env.py: 1019] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:38:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.5ms, total=206.5ms [env.py: 1075] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.066, -0.190) [env.py: 1079] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 00:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:38:43 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 00:38:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:38:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:38:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:38:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112177m [env.py: 870] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=234.5ms, total=234.6ms [env.py: 1105] +05/12 00:38:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:38:43 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:38:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144568m [env.py: 870] +05/12 00:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.0ms, total=204.1ms [env.py: 1105] +05/12 00:38:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:38:45 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:38:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111167m [env.py: 870] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40022289 -1.07298991 -0.11116722] yaw=-41.4deg [env.py: 1019] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:38:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms [env.py: 1075] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.073, -0.111) [env.py: 1079] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/12 00:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:38:46 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 00:38:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 00:38:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:38:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:38:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:38:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.096s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:38:48 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.670[m] 86.130[deg] [grasp_sample.py: 539] +05/12 00:38:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:38:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:38:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:38:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:38:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:38:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:38:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:38:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.881s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:38:53 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.711[m] 84.388[deg] [grasp_sample.py: 539] +05/12 00:38:54 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:38:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:38:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:38:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:38:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:38:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:38:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140328m [env.py: 870] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:38:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46282671 -1.0410308 -0.14032794] yaw=-54.2deg [env.py: 1019] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:38:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.8ms, total=235.8ms [env.py: 1075] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -1.041, -0.140) [env.py: 1079] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 00:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:38:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:38:55 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 00:38:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:38:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:38:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:38:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:38:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.092s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:38:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.699[m] 89.543[deg] [grasp_sample.py: 539] +05/12 00:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:38:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:38:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:38:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:39:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:39:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:39:31 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:39:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:48 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:39:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:39:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:39:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:39:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:39:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.150[m] 13.495[deg] [grasp_sample.py: 539] +05/12 00:39:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:39:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:39:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:39:52 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:39:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:39:52 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 00:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:40:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:40:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.53s (batch: 3.33s, save: 9.20s) [pipeline.py: 300] +05/12 00:40:05 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.53s: + episode_total: mean=141.00s, total=141.00s, count=1, min=141001.7ms, max=141001.7ms + sensor_polling: mean=339.9ms, total=95.17s, count=280, min=298.1ms, max=625.7ms + save_trajectories: mean=9.20s, total=9.20s, count=1, min=9200.6ms, max=9200.6ms + physics_step: mean=22.4ms, total=6.27s, count=280, min=14.4ms, max=60.1ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3331.1ms, max=3331.1ms + task_sampling: mean=529.9ms, total=529.9ms, count=1, min=529.9ms, max=529.9ms + task_specific_sample: mean=525.8ms, total=525.8ms, count=1, min=525.8ms, max=525.8ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:40:06 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:40:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:40:06 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 00:40:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:40:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:40:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:40:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:40:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:40:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172722m [env.py: 870] +05/12 00:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:40:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36540872 -1.00578862 -0.17272213] yaw=-61.1deg [env.py: 1019] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26296978 -1.16777225 -0.17272213] yaw=-36.7deg [env.py: 1019] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19464831 -0.98475675 -0.17272213] yaw=-54.4deg [env.py: 1019] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:40:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=564.8ms, total=564.9ms [env.py: 1075] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -1.006, -0.173) [env.py: 1079] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/12 00:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 00:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:40:07 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 00:40:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 00:40:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:40:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:40:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:40:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:40:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.338s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:40:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.702[m] 95.745[deg] [grasp_sample.py: 539] +05/12 00:40:10 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:40:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:40:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:40:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142440m [env.py: 870] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3304119 -1.00165733 -0.1424395 ] yaw=-47.9deg [env.py: 1019] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21317786 -1.08153026 -0.1424395 ] yaw=-40.2deg [env.py: 1019] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:40:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.3ms, total=222.3ms [env.py: 1075] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.002, -0.142) [env.py: 1079] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 00:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:40:12 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 00:40:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:40:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:40:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:40:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:40:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:40:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.746[m] 80.500[deg] [grasp_sample.py: 539] +05/12 00:40:14 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:40:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:40:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:40:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:40:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:40:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:40:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:40:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119753m [env.py: 870] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:40:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.1ms, total=209.1ms [env.py: 1105] +05/12 00:40:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:40:16 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:40:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:40:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:40:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:40:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:40:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:40:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108516m [env.py: 870] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:40:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5492699 -0.95575606 -0.10851604] yaw=-57.4deg [env.py: 1019] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58111643 -0.96862979 -0.10851604] yaw=-71.9deg [env.py: 1019] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:40:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.6ms, total=209.6ms [env.py: 1075] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.956, -0.109) [env.py: 1079] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg [env.py: 1082] +05/12 00:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:40:17 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 00:40:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:40:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:40:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:40:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:40:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:40:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:40:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.37s (batch: 3.22s, save: 9.15s) [pipeline.py: 300] +05/12 00:40:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:40:19 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=3.11s: + episode_total: mean=14.48s, total=173.75s, count=12, min=213.9ms, max=145107.0ms + sensor_polling: mean=380.7ms, total=102.42s, count=269, min=317.2ms, max=693.5ms + save_trajectories: mean=9.15s, total=9.15s, count=1, min=9146.4ms, max=9146.4ms + physics_step: mean=22.5ms, total=6.06s, count=269, min=14.6ms, max=32.0ms + task_specific_sample: mean=371.3ms, total=4.46s, count=12, min=210.2ms, max=669.0ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3224.4ms, max=3224.4ms + task_sampling: mean=444.3ms, total=3.11s, count=7, min=310.8ms, max=672.6ms + task_sampling_failed: mean=276.9ms, total=1.38s, count=5, min=213.9ms, max=422.7ms + scene_randomize: mean=1.2ms, total=14.7ms, count=12, min=1.0ms, max=2.3ms + mj_forward_sync: mean=467.8us, total=5.6ms, count=12, min=0.4ms, max=0.7ms + policy_setup: mean=14.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:40:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.483s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:40:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.734[m] 79.205[deg] [grasp_sample.py: 539] +05/12 00:40:20 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:40:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:40:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:40:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115415m [env.py: 870] +05/12 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58101393 -0.99067927 -0.1154153 ] yaw=-72.8deg [env.py: 1019] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:40:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=351.9ms, total=351.9ms [env.py: 1075] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.991, -0.115) [env.py: 1079] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg [env.py: 1082] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:40:21 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 00:40:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 00:40:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:40:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:40:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:40:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:40:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:40:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:40:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:40:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:40:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124110m [env.py: 870] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:40:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38020985 -0.95745971 -0.12411015] yaw=-60.8deg [env.py: 1019] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5930528 -0.84135083 -0.12411015] yaw=-56.9deg [env.py: 1019] +05/12 00:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:40:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1075] +05/12 00:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -0.957, -0.124) [env.py: 1079] +05/12 00:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg [env.py: 1082] +05/12 00:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 00:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:40:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:40:22 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 00:40:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 00:40:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:40:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:40:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:40:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.999s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:40:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.654[m] 84.263[deg] [grasp_sample.py: 539] +05/12 00:40:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:40:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:40:25 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.781[m] 97.087[deg] [grasp_sample.py: 539] +05/12 00:40:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:40:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:40:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:40:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:40:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:40:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:40:28 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:46 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:40:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:40:46 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 00:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:40:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:40:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:40:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:40:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:40:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:40:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.125s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:40:57 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.529[m] 57.110[deg] [grasp_sample.py: 539] +05/12 00:40:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:40:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:40:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:41:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:41:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.53s (batch: 3.47s, save: 11.06s) [pipeline.py: 300] +05/12 00:41:01 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=2.60s: + episode_total: mean=21.56s, total=194.03s, count=9, min=201.0ms, max=139146.3ms + sensor_polling: mean=344.6ms, total=107.86s, count=313, min=305.5ms, max=553.5ms + save_trajectories: mean=11.06s, total=11.06s, count=1, min=11057.0ms, max=11057.0ms + physics_step: mean=22.9ms, total=7.17s, count=313, min=14.8ms, max=35.6ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3471.8ms, max=3471.8ms + task_specific_sample: mean=380.5ms, total=3.42s, count=9, min=198.2ms, max=832.7ms + task_sampling: mean=520.7ms, total=2.60s, count=5, min=401.2ms, max=835.6ms + task_sampling_failed: mean=211.6ms, total=846.4ms, count=4, min=201.0ms, max=218.3ms + scene_randomize: mean=1.1ms, total=10.2ms, count=9, min=0.9ms, max=1.8ms + mj_forward_sync: mean=397.0us, total=3.6ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=13.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:02 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:41:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140569m [env.py: 870] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=405.5ms, total=405.6ms [env.py: 1105] +05/12 00:41:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:41:03 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136600m [env.py: 870] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59205924 -0.84729841 -0.13659952] yaw=-63.4deg [env.py: 1019] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=213.3ms, total=213.4ms [env.py: 1075] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.847, -0.137) [env.py: 1079] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/12 00:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:05 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.912s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:41:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.761[m] 79.274[deg] [grasp_sample.py: 539] +05/12 00:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:08 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:41:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:41:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:41:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158805m [env.py: 870] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48152502 -0.84665187 -0.15880475] yaw=-58.5deg [env.py: 1019] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=209.9ms [env.py: 1075] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.847, -0.159) [env.py: 1079] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/12 00:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:10 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.016s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:41:15 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.786[m] 89.347[deg] [grasp_sample.py: 539] +05/12 00:41:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.339s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:41:15 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.527[m] 57.351[deg] [grasp_sample.py: 539] +05/12 00:41:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:41:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:41:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:41:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:41:16 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:41:16 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 00:41:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166402m [env.py: 870] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.9ms, total=211.9ms [env.py: 1105] +05/12 00:41:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:41:18 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:41:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164657m [env.py: 870] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.4ms, total=203.5ms [env.py: 1105] +05/12 00:41:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:41:19 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184858m [env.py: 870] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37266585 -0.92279278 -0.18485826] yaw=-58.6deg [env.py: 1019] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.6ms [env.py: 1075] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.373, -0.923, -0.185) [env.py: 1079] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/12 00:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:21 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:41:24 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:41:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:41:24 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 00:41:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:41:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.989s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:41:31 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.735[m] 90.026[deg] [grasp_sample.py: 539] +05/12 00:41:32 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:41:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:41:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187258m [env.py: 870] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08656334 -1.07109865 -0.18725757] yaw=-42.2deg [env.py: 1019] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms [env.py: 1075] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.087, -1.071, -0.187) [env.py: 1079] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 00:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:34 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.248s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:41:35 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:41:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:41:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:41:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.42s (batch: 3.17s, save: 9.24s) [pipeline.py: 300] +05/12 00:41:37 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.90s: + episode_total: mean=42.43s, total=169.73s, count=4, min=212.3ms, max=161656.7ms + sensor_polling: mean=341.2ms, total=98.27s, count=288, min=297.4ms, max=647.2ms + save_trajectories: mean=9.24s, total=9.24s, count=1, min=9244.5ms, max=9244.5ms + physics_step: mean=22.3ms, total=6.41s, count=288, min=14.7ms, max=42.3ms + save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3172.2ms, max=3172.2ms + task_specific_sample: mean=335.8ms, total=1.34s, count=4, min=209.0ms, max=451.4ms + task_sampling: mean=447.6ms, total=895.2ms, count=2, min=441.9ms, max=453.3ms + task_sampling_failed: mean=230.1ms, total=460.3ms, count=2, min=212.3ms, max=248.0ms + scene_randomize: mean=1.5ms, total=5.8ms, count=4, min=0.9ms, max=3.1ms + mj_forward_sync: mean=412.1us, total=1.6ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:41:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176627m [env.py: 870] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47247321 -0.7765442 -0.17662704] yaw=-69.1deg [env.py: 1019] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29441625 -1.0229103 -0.17662704] yaw=-54.7deg [env.py: 1019] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16998061 -1.03428185 -0.17662704] yaw=-33.0deg [env.py: 1019] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.8ms, total=98.9ms [env.py: 1075] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.472, -0.777, -0.177) [env.py: 1079] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 00:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:37 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121043m [env.py: 870] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.1ms, total=203.2ms [env.py: 1105] +05/12 00:41:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:41:38 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:41:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.260s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:41:38 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188702m [env.py: 870] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191842m [env.py: 870] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17325699 -0.98198841 -0.18870229] yaw=-42.3deg [env.py: 1019] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42386093 -0.94908683 -0.18870229] yaw=-61.3deg [env.py: 1019] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30279768 -0.91828954 -0.18870229] yaw=-48.6deg [env.py: 1019] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=222.1ms, total=222.1ms [env.py: 1075] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -0.982, -0.189) [env.py: 1079] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg [env.py: 1082] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=326.5ms, total=326.5ms [env.py: 1105] +05/12 00:41:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:41:40 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:41:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:40 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169693m [env.py: 870] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40363041 -1.08815302 -0.16969307] yaw=-43.8deg [env.py: 1019] +05/12 00:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=189.6ms, total=189.6ms [env.py: 1075] +05/12 00:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.088, -0.170) [env.py: 1079] +05/12 00:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.8 deg [env.py: 1082] +05/12 00:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 00:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:41:42 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:41:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:42 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.759s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:41:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.617[m] 84.615[deg] [grasp_sample.py: 539] +05/12 00:41:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:41:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139026m [env.py: 870] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51309744 -0.95387171 -0.13902564] yaw=-70.6deg [env.py: 1019] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42782563 -0.89208567 -0.13902564] yaw=-46.8deg [env.py: 1019] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.64652657 -0.9640758 -0.13902564] yaw=-79.6deg [env.py: 1019] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.1ms, total=236.2ms [env.py: 1075] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.954, -0.139) [env.py: 1079] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/12 00:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:44 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:41:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:41:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:41:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.683s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:41:50 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.669[m] 94.383[deg] [grasp_sample.py: 539] +05/12 00:41:51 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:41:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126405m [env.py: 870] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.5ms, total=211.5ms [env.py: 1105] +05/12 00:41:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:41:53 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:41:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:41:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:41:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:41:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:41:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:41:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184251m [env.py: 870] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:41:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20176312 -1.0896762 -0.18425098] yaw=-33.9deg [env.py: 1019] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:41:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms [env.py: 1075] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.090, -0.184) [env.py: 1079] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.9 deg [env.py: 1082] +05/12 00:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:41:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:41:55 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 00:41:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:41:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:41:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:41:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.567s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:41:58 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.703[m] 81.724[deg] [grasp_sample.py: 539] +05/12 00:41:59 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:42:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162166m [env.py: 870] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63176012 -0.84934574 -0.16216576] yaw=-58.9deg [env.py: 1019] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30641598 -0.9382308 -0.16216576] yaw=-58.6deg [env.py: 1019] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:42:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1075] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.632, -0.849, -0.162) [env.py: 1079] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/12 00:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:42:01 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 00:42:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:42:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:42:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.992s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:42:10 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.750[m] 94.038[deg] [grasp_sample.py: 539] +05/12 00:42:11 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:42:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171503m [env.py: 870] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=346.8ms, total=346.8ms [env.py: 1105] +05/12 00:42:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:42:13 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:42:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121269m [env.py: 870] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.7ms, total=185.7ms [env.py: 1105] +05/12 00:42:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:42:14 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:42:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183736m [env.py: 870] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23111257 -1.17216637 -0.18373636] yaw=-37.9deg [env.py: 1019] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:42:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.1ms [env.py: 1075] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.172, -0.184) [env.py: 1079] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 00:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:42:16 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 00:42:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:42:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:16 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:42:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.292s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:42:17 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.698[m] 78.772[deg] [grasp_sample.py: 539] +05/12 00:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:18 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:42:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139034m [env.py: 870] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=202.3ms, total=202.4ms [env.py: 1105] +05/12 00:42:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:42:20 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141160m [env.py: 870] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1689836 -1.08796321 -0.14116018] yaw=-28.9deg [env.py: 1019] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:42:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.8ms [env.py: 1075] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.088, -0.141) [env.py: 1079] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.9 deg [env.py: 1082] +05/12 00:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:42:22 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 00:42:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:42:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:42:24 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 00:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176115m [env.py: 870] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19489568 -0.98277338 -0.17611529] yaw=-41.9deg [env.py: 1019] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.7ms [env.py: 1075] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -0.983, -0.176) [env.py: 1079] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/12 00:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:42:26 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 00:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 00:42:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.577s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:42:28 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:42:28 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 00:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179011m [env.py: 870] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46873484 -0.89230337 -0.17901117] yaw=-60.1deg [env.py: 1019] +05/12 00:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:42:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=756.0ms, total=756.0ms [env.py: 1075] +05/12 00:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.892, -0.179) [env.py: 1079] +05/12 00:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 00:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 00:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:42:30 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 00:42:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 00:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:42:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:42:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:42:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:42:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.454s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:42:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.718[m] 89.164[deg] [grasp_sample.py: 539] +05/12 00:42:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:42:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:42:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:42:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:42:37 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:42:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:42:37 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 00:42:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:42:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:42:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:42:45 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.170[m] 15.036[deg] [grasp_sample.py: 539] +05/12 00:42:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:42:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:42:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.82s (batch: 3.47s, save: 10.34s) [pipeline.py: 300] +05/12 00:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:51 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=2.25s: + episode_total: mean=32.01s, total=160.03s, count=5, min=217.3ms, max=150049.4ms + sensor_polling: mean=353.3ms, total=102.45s, count=290, min=298.4ms, max=605.0ms + save_trajectories: mean=10.34s, total=10.34s, count=1, min=10344.5ms, max=10344.5ms + physics_step: mean=22.8ms, total=6.61s, count=290, min=14.7ms, max=61.3ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3471.7ms, max=3471.7ms + task_specific_sample: mean=491.4ms, total=2.46s, count=5, min=213.8ms, max=901.2ms + task_sampling: mean=563.4ms, total=2.25s, count=4, min=421.9ms, max=904.9ms + task_sampling_failed: mean=217.3ms, total=217.3ms, count=1, min=217.3ms, max=217.3ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=2.4ms + mj_forward_sync: mean=389.1us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=16.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:42:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144229m [env.py: 870] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=181.3ms, total=181.3ms [env.py: 1105] +05/12 00:42:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:42:53 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146047m [env.py: 870] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39268225 -0.89047354 -0.14604709] yaw=-67.0deg [env.py: 1019] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:42:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.9ms, total=168.9ms [env.py: 1075] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -0.890, -0.146) [env.py: 1079] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg [env.py: 1082] +05/12 00:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:42:55 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 00:42:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 00:42:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.480s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:42:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.761[m] 83.629[deg] [grasp_sample.py: 539] +05/12 00:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:42:57 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:42:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:42:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:42:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:42:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:42:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:42:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126658m [env.py: 870] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:42:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5603807 -0.74585461 -0.12665847] yaw=-67.7deg [env.py: 1019] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:42:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=185.5ms, total=185.6ms [env.py: 1075] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.560, -0.746, -0.127) [env.py: 1079] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 00:42:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:42:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:42:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:42:59 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 00:42:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 00:42:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:42:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:42:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:43:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:43:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:43:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:43:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:43:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.582s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:43:01 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:43:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:43:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:43:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:43:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:43:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196467m [env.py: 870] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3481236 -1.1018416 -0.19646741] yaw=-37.8deg [env.py: 1019] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51173748 -0.99298243 -0.19646741] yaw=-58.6deg [env.py: 1019] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47267971 -0.98639277 -0.19646741] yaw=-65.2deg [env.py: 1019] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:43:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=429.2ms, total=429.2ms [env.py: 1075] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -1.102, -0.196) [env.py: 1079] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 00:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 00:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:43:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:43:03 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 00:43:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:43:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:43:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:43:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:43:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.940s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:43:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.632[m] 82.921[deg] [grasp_sample.py: 539] +05/12 00:43:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:43:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:43:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:43:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.031s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:43:06 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.189[m] 8.316[deg] [grasp_sample.py: 539] +05/12 00:43:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:43:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:43:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:27 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:43:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:43:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:43:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:43:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:43:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:43:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.656s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:43:34 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.186[m] 21.582[deg] [grasp_sample.py: 539] +05/12 00:43:36 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:43:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:43:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:43:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:43:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:43:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:43:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156798m [env.py: 870] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49555099 -0.76833973 -0.15679849] yaw=-66.6deg [env.py: 1019] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37118402 -1.02970282 -0.15679849] yaw=-39.7deg [env.py: 1019] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=276.1ms, total=276.1ms [env.py: 1075] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.768, -0.157) [env.py: 1079] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/12 00:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:43:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:43:38 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 00:43:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:43:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:43:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:43:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:43:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.478s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:43:39 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:43:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:43:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:43:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:43:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:43:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:43:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:43:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:43:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193710m [env.py: 870] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:43:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63588639 -0.94892696 -0.19370952] yaw=-71.9deg [env.py: 1019] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:43:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.1ms, total=222.1ms [env.py: 1075] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.949, -0.194) [env.py: 1079] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 00:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:43:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:43:41 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 00:43:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 00:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:43:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:43:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:43:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.945s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:43:42 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.635[m] 74.776[deg] [grasp_sample.py: 539] +05/12 00:43:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:43:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:43:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:43:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:43:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:43:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:43:46 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 00:43:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:43:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:43:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:43:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:43:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.50s (batch: 3.15s, save: 8.35s) [pipeline.py: 300] +05/12 00:43:58 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=2.17s: + episode_total: mean=26.08s, total=208.67s, count=8, min=211.9ms, max=136746.6ms + sensor_polling: mean=368.4ms, total=116.03s, count=315, min=324.4ms, max=573.0ms + save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.1ms, max=8350.1ms + physics_step: mean=22.5ms, total=7.08s, count=315, min=13.8ms, max=50.6ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3149.3ms, max=3149.3ms + task_specific_sample: mean=364.9ms, total=2.92s, count=8, min=208.4ms, max=655.2ms + task_sampling: mean=434.9ms, total=2.17s, count=5, min=303.3ms, max=659.1ms + task_sampling_failed: mean=256.9ms, total=770.6ms, count=3, min=211.8ms, max=336.4ms + scene_randomize: mean=1.4ms, total=10.9ms, count=8, min=1.0ms, max=2.6ms + mj_forward_sync: mean=463.4us, total=3.7ms, count=8, min=0.4ms, max=0.7ms + policy_setup: mean=13.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:43:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:43:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:43:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:43:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:43:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:43:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:43:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107597m [env.py: 870] +05/12 00:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:43:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56253565 -1.02216665 -0.10759687] yaw=-72.6deg [env.py: 1019] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34922162 -0.81696118 -0.10759687] yaw=-55.9deg [env.py: 1019] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:44:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:44:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=548.7ms, total=548.7ms [env.py: 1075] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -1.022, -0.108) [env.py: 1079] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 00:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 00:44:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:44:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:44:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:44:00 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 00:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 00:44:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:44:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:44:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.308s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:44:04 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.688[m] 86.419[deg] [grasp_sample.py: 539] +05/12 00:44:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:44:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:44:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:08 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:44:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:44:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:44:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:44:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:44:40 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:44:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:44:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:44:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.82s (batch: 4.02s, save: 9.80s) [pipeline.py: 300] +05/12 00:44:43 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.97s: + episode_total: mean=72.56s, total=217.67s, count=3, min=416.4ms, max=213585.5ms + sensor_polling: mean=358.8ms, total=107.63s, count=300, min=295.5ms, max=624.7ms + save_trajectories: mean=9.80s, total=9.80s, count=1, min=9800.7ms, max=9800.7ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=14.7ms, max=34.8ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4019.4ms, max=4019.4ms + task_specific_sample: mean=457.6ms, total=1.37s, count=3, min=411.7ms, max=509.9ms + task_sampling: mean=483.3ms, total=966.5ms, count=2, min=453.5ms, max=513.0ms + task_sampling_failed: mean=416.4ms, total=416.4ms, count=1, min=416.4ms, max=416.4ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=0.9ms, max=2.5ms + mj_forward_sync: mean=405.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:44:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:44:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:44:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:44:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:44:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:44:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:44:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175053m [env.py: 870] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:44:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=168.5ms, total=168.5ms [env.py: 1105] +05/12 00:44:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:44:45 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:44:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:44:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:44:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:44:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:44:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:44:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:44:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:44:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129096m [env.py: 870] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:44:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62407797 -0.90639669 -0.12909571] yaw=-61.5deg [env.py: 1019] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:44:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.6ms, total=198.7ms [env.py: 1075] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.906, -0.129) [env.py: 1079] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg [env.py: 1082] +05/12 00:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:44:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:44:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:44:46 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 00:44:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 00:44:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:44:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:44:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:44:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:44:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.684[m] 87.207[deg] [grasp_sample.py: 539] +05/12 00:44:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:44:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:44:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:44:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:44:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:44:49 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:44:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:44:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:44:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:44:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 383 non-colliding grasps [grasp_sample.py: 465] +05/12 00:44:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.788s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:44:51 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.046[m] 5.978[deg] [grasp_sample.py: 539] +05/12 00:44:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:44:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:44:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:44:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:44:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:44:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:44:58 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 00:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:45:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:05 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.157[m] 17.787[deg] [grasp_sample.py: 539] +05/12 00:45:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:45:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:45:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:45:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:45:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.73s (batch: 3.19s, save: 8.54s) [pipeline.py: 300] +05/12 00:45:11 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=1.36s: + episode_total: mean=33.52s, total=134.07s, count=4, min=194.8ms, max=128581.6ms + sensor_polling: mean=332.3ms, total=87.39s, count=263, min=299.3ms, max=479.5ms + save_trajectories: mean=8.54s, total=8.54s, count=1, min=8538.6ms, max=8538.6ms + physics_step: mean=21.7ms, total=5.70s, count=263, min=15.0ms, max=33.5ms + save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3190.8ms, max=3190.8ms + task_specific_sample: mean=385.5ms, total=1.54s, count=4, min=186.9ms, max=617.7ms + task_sampling: mean=454.0ms, total=1.36s, count=3, min=359.7ms, max=619.9ms + task_sampling_failed: mean=194.7ms, total=194.7ms, count=1, min=194.7ms, max=194.7ms + scene_randomize: mean=1.3ms, total=5.1ms, count=4, min=0.9ms, max=2.2ms + mj_forward_sync: mean=365.7us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135931m [env.py: 870] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=351.4ms, total=351.4ms [env.py: 1105] +05/12 00:45:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:45:13 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:45:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:13 INFO: [Worker 0] Object is not in grasp! 0.00181 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:45:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:45:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187208m [env.py: 870] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50334395 -0.75452471 -0.1872082 ] yaw=-75.3deg [env.py: 1019] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34097714 -0.93875646 -0.1872082 ] yaw=-63.2deg [env.py: 1019] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60512841 -0.75251429 -0.1872082 ] yaw=-73.4deg [env.py: 1019] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:45:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.0ms [env.py: 1075] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.755, -0.187) [env.py: 1079] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.3 deg [env.py: 1082] +05/12 00:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:45:14 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 00:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/12 00:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.449s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:15 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.076[m] 0.472[deg] [grasp_sample.py: 539] +05/12 00:45:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:45:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:45:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.534s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:45:16 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:45:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:45:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.423s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:17 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.194[m] 16.752[deg] [grasp_sample.py: 539] +05/12 00:45:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:45:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157745m [env.py: 870] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17313857 -0.95435469 -0.15774527] yaw=-54.3deg [env.py: 1019] +05/12 00:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:45:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.5ms [env.py: 1075] +05/12 00:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -0.954, -0.158) [env.py: 1079] +05/12 00:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 00:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 00:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:45:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:45:18 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 00:45:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:45:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:45:19 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:45:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114370m [env.py: 870] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.0ms, total=202.0ms [env.py: 1105] +05/12 00:45:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:45:21 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172461m [env.py: 870] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35719875 -0.838533 -0.17246096] yaw=-57.6deg [env.py: 1019] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44331766 -0.91522386 -0.17246096] yaw=-54.3deg [env.py: 1019] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40229884 -0.81078482 -0.17246096] yaw=-56.6deg [env.py: 1019] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:45:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms [env.py: 1075] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -0.839, -0.172) [env.py: 1079] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:45:23 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 00:45:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:45:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.306s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:45:24 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162891m [env.py: 870] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5322712 -1.02136822 -0.16289116] yaw=-55.0deg [env.py: 1019] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:45:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.6ms, total=214.7ms [env.py: 1075] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.532, -1.021, -0.163) [env.py: 1079] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 00:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:45:26 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 00:45:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 00:45:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:45:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.583s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:27 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.636[m] 87.960[deg] [grasp_sample.py: 539] +05/12 00:45:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:45:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:45:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:38 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:45:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:45:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:40 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.074[m] 0.276[deg] [grasp_sample.py: 539] +05/12 00:45:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:45:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:45:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:48 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:45:48 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=False episode_total=4.93s: + episode_total: mean=15.49s, total=232.34s, count=15, min=193.2ms, max=127893.2ms + sensor_polling: mean=338.5ms, total=151.67s, count=448, min=295.7ms, max=663.6ms + physics_step: mean=22.0ms, total=9.85s, count=448, min=14.6ms, max=90.6ms + task_specific_sample: mean=405.2ms, total=6.08s, count=15, min=190.3ms, max=957.1ms + task_sampling: mean=492.6ms, total=4.93s, count=10, min=398.8ms, max=959.9ms + task_sampling_failed: mean=238.9ms, total=1.19s, count=5, min=193.1ms, max=354.2ms + scene_randomize: mean=1.2ms, total=18.2ms, count=15, min=1.0ms, max=3.2ms + mj_forward_sync: mean=440.0us, total=6.6ms, count=15, min=0.4ms, max=0.8ms + policy_setup: mean=12.4us, total=0.1ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178507m [env.py: 870] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41304527 -1.02447594 -0.17850726] yaw=-58.8deg [env.py: 1019] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54468622 -0.7621124 -0.17850726] yaw=-66.9deg [env.py: 1019] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:45:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.3ms, total=169.3ms [env.py: 1075] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -1.024, -0.179) [env.py: 1079] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/12 00:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:45:50 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 00:45:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:45:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:45:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:45:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.326s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.678[m] 77.632[deg] [grasp_sample.py: 539] +05/12 00:45:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:45:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:45:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:45:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:45:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:45:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.503s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.485[m] 62.297[deg] [grasp_sample.py: 539] +05/12 00:45:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:45:54 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:45:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165490m [env.py: 870] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2440645 -0.89305823 -0.16549001] yaw=-55.0deg [env.py: 1019] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:45:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms [env.py: 1075] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.244, -0.893, -0.165) [env.py: 1079] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 00:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:45:56 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 00:45:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:45:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:45:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:45:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:45:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.075s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:45:58 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.051[m] 2.652[deg] [grasp_sample.py: 539] +05/12 00:45:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.528s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:45:58 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:45:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:45:59 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:45:59 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 00:45:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:45:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:45:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:45:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:45:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:45:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:45:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102625m [env.py: 870] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:45:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=391.7ms, total=391.7ms [env.py: 1105] +05/12 00:46:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:46:00 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:46:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:46:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:46:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:46:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:46:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130294m [env.py: 870] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43093906 -0.90552564 -0.13029437] yaw=-66.9deg [env.py: 1019] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42309133 -0.93631314 -0.13029437] yaw=-60.5deg [env.py: 1019] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38175151 -1.02977188 -0.13029437] yaw=-41.4deg [env.py: 1019] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.3ms, total=95.4ms [env.py: 1075] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.431, -0.906, -0.130) [env.py: 1079] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 00:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:46:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:46:00 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 00:46:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 00:46:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:46:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:46:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:46:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:46:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:46:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:46:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:46:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:46:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:46:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198359m [env.py: 870] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:46:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=704.8ms, total=704.8ms [env.py: 1105] +05/12 00:46:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:46:02 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:46:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:46:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:46:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:46:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:46:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:46:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:46:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104812m [env.py: 870] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:46:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42273792 -1.07412451 -0.10481173] yaw=-55.4deg [env.py: 1019] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:46:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=477.0ms, total=477.1ms [env.py: 1075] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -1.074, -0.105) [env.py: 1079] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 00:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:46:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:46:04 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 00:46:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:46:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:46:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:46:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:46:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.632s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:46:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.667[m] 86.969[deg] [grasp_sample.py: 539] +05/12 00:46:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:46:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:46:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:46:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.397s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:46:07 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.779[m] 88.251[deg] [grasp_sample.py: 539] +05/12 00:46:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:46:07 INFO: [Worker 0] Object is not in grasp! 0.00200 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:46:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:46:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:46:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:46:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 419 non-colliding grasps [grasp_sample.py: 465] +05/12 00:46:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:46:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.353s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:46:08 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.052[m] 1.220[deg] [grasp_sample.py: 539] +05/12 00:46:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:46:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:46:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:46:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:30 INFO: [Worker 0] Object is not in grasp! 0.00104 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:46:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:46:30 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:46:30 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=0.79s: + episode_total: mean=150.96s, total=150.96s, count=1, min=150960.8ms, max=150960.8ms + sensor_polling: mean=393.6ms, total=109.81s, count=279, min=313.7ms, max=632.2ms + physics_step: mean=23.7ms, total=6.62s, count=279, min=15.4ms, max=126.0ms + task_sampling: mean=789.1ms, total=789.1ms, count=1, min=789.1ms, max=789.1ms + task_specific_sample: mean=785.3ms, total=785.3ms, count=1, min=785.3ms, max=785.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=420.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:46:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:46:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:46:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:46:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:46:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:46:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:46:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120485m [env.py: 870] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:46:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47645865 -1.0682988 -0.1204853 ] yaw=-49.1deg [env.py: 1019] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18361819 -1.00833313 -0.1204853 ] yaw=-44.3deg [env.py: 1019] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:46:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1075] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -1.068, -0.120) [env.py: 1079] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 00:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:46:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:46:32 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 00:46:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:46:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:46:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:46:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:46:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.422s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:46:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.681[m] 77.260[deg] [grasp_sample.py: 539] +05/12 00:46:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:46:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:46:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:46:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:47:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:47:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:47:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:47:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:47:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.563s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:47:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 54.292[deg] [grasp_sample.py: 539] +05/12 00:47:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:47:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:47:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:47:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:47:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:47:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:47:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:47:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:47:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:47:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 54.294[deg] [grasp_sample.py: 539] +05/12 00:47:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:47:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:47:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:26 INFO: [Worker 0] Object is not in grasp! 0.00029 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:47:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:47:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:47:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:47:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 353 non-colliding grasps [grasp_sample.py: 465] +05/12 00:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:47:28 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.070[m] 36.177[deg] [grasp_sample.py: 539] +05/12 00:47:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:47:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:47:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:47:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:47:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:47:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:47:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:47:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.355s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:47:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 54.294[deg] [grasp_sample.py: 539] +05/12 00:47:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:47:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:47:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:34 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:47:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:47:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:47:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:47:44 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:47:44 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=0.43s: + episode_total: mean=71.93s, total=71.93s, count=1, min=71927.2ms, max=71927.2ms + sensor_polling: mean=352.4ms, total=26.78s, count=76, min=320.8ms, max=582.0ms + physics_step: mean=17.8ms, total=1.35s, count=76, min=12.9ms, max=26.3ms + task_sampling: mean=432.4ms, total=432.4ms, count=1, min=432.4ms, max=432.4ms + task_specific_sample: mean=429.5ms, total=429.5ms, count=1, min=429.5ms, max=429.5ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=433.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:47:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:47:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:47:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:47:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:47:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:47:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:47:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:47:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103436m [env.py: 870] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:47:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=227.5ms, total=227.6ms [env.py: 1105] +05/12 00:47:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:47:45 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:47:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:47:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:47:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:47:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:47:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180620m [env.py: 870] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34428705 -1.20522329 -0.18061958] yaw=-45.1deg [env.py: 1019] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:47:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.6ms, total=221.7ms [env.py: 1075] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -1.205, -0.181) [env.py: 1079] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.1 deg [env.py: 1082] +05/12 00:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:47:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:47:47 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 00:47:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 00:47:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:47:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:47:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:47:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:47:49 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.586[m] 88.804[deg] [grasp_sample.py: 539] +05/12 00:47:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:47:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:47:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:47:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:47:54 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:47:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:47:54 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 00:47:57 INFO: [Worker 0] Object is not in grasp! 0.00109 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:47:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:47:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:47:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:47:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 406 non-colliding grasps [grasp_sample.py: 465] +05/12 00:47:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:47:59 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.065[m] 19.562[deg] [grasp_sample.py: 539] +05/12 00:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:48:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:48:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:48:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:48:05 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:48:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:48:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:48:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.74s (batch: 3.28s, save: 8.46s) [pipeline.py: 300] +05/12 00:48:06 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.36s: + episode_total: mean=136.11s, total=136.11s, count=1, min=136106.4ms, max=136106.4ms + sensor_polling: mean=326.4ms, total=88.79s, count=272, min=292.3ms, max=540.2ms + save_trajectories: mean=8.46s, total=8.46s, count=1, min=8458.6ms, max=8458.6ms + physics_step: mean=21.3ms, total=5.78s, count=272, min=19.0ms, max=28.5ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3284.5ms, max=3284.5ms + task_sampling: mean=358.5ms, total=358.5ms, count=1, min=358.5ms, max=358.5ms + task_specific_sample: mean=356.2ms, total=356.2ms, count=1, min=356.2ms, max=356.2ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=404.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136741m [env.py: 870] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61495946 -0.87657447 -0.13674148] yaw=-58.7deg [env.py: 1019] +05/12 00:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:48:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=300.0ms, total=300.0ms [env.py: 1075] +05/12 00:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.877, -0.137) [env.py: 1079] +05/12 00:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/12 00:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 00:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:48:08 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 00:48:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 00:48:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:48:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:48:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:48:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:48:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:48:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.059s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:48:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.723[m] 81.379[deg] [grasp_sample.py: 539] +05/12 00:48:16 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:48:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111976m [env.py: 870] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.9ms, total=196.9ms [env.py: 1105] +05/12 00:48:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:18 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177347m [env.py: 870] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24684422 -0.89012155 -0.17734665] yaw=-49.8deg [env.py: 1019] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.3ms [env.py: 1075] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.890, -0.177) [env.py: 1079] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:48:20 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 00:48:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:48:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:48:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:48:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:48:20 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:48:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:48:21 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:48:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125573m [env.py: 870] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=212.3ms, total=212.3ms [env.py: 1105] +05/12 00:48:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:23 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196645m [env.py: 870] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=227.2ms, total=227.2ms [env.py: 1105] +05/12 00:48:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:25 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:25 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:48:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:48:25 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 00:48:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138107m [env.py: 870] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=417.3ms, total=417.3ms [env.py: 1105] +05/12 00:48:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:26 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157534m [env.py: 870] +05/12 00:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43551383 -1.00804427 -0.15753392] yaw=-50.9deg [env.py: 1019] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:48:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=308.0ms, total=308.1ms [env.py: 1075] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -1.008, -0.158) [env.py: 1079] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/12 00:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 00:48:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:48:28 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 00:48:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:48:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:48:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:48:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:48:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:48:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.677[m] 90.888[deg] [grasp_sample.py: 539] +05/12 00:48:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:48:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:48:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:48:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:48:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:48:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:48:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:48:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.19s (batch: 3.56s, save: 9.63s) [pipeline.py: 300] +05/12 00:48:38 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=2.83s: + episode_total: mean=19.47s, total=194.67s, count=10, min=209.9ms, max=155470.1ms + sensor_polling: mean=372.9ms, total=118.21s, count=317, min=300.7ms, max=584.5ms + save_trajectories: mean=9.63s, total=9.63s, count=1, min=9628.5ms, max=9628.5ms + physics_step: mean=24.1ms, total=7.65s, count=317, min=14.6ms, max=44.2ms + task_specific_sample: mean=449.1ms, total=4.49s, count=10, min=206.8ms, max=709.5ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3556.8ms, max=3556.8ms + task_sampling: mean=472.1ms, total=2.83s, count=6, min=374.0ms, max=703.3ms + task_sampling_failed: mean=422.8ms, total=1.69s, count=4, min=209.9ms, max=712.5ms + scene_randomize: mean=1.2ms, total=11.8ms, count=10, min=0.9ms, max=2.2ms + mj_forward_sync: mean=440.9us, total=4.4ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=19.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:48:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128789m [env.py: 870] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=177.6ms, total=177.7ms [env.py: 1105] +05/12 00:48:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:40 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116931m [env.py: 870] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.6ms, total=209.6ms [env.py: 1105] +05/12 00:48:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:42 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:42 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:48:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:48:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:48:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111170m [env.py: 870] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58550307 -0.90796029 -0.1111703 ] yaw=-61.3deg [env.py: 1019] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64738322 -0.88071689 -0.1111703 ] yaw=-63.0deg [env.py: 1019] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:48:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=616.3ms, total=616.3ms [env.py: 1075] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.908, -0.111) [env.py: 1079] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/12 00:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:48:44 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 00:48:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 00:48:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:48:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:48:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:48:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.580s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:48:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.693[m] 94.076[deg] [grasp_sample.py: 539] +05/12 00:48:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:48:47 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186095m [env.py: 870] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=221.4ms, total=221.4ms [env.py: 1105] +05/12 00:48:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:48 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164642m [env.py: 870] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27357137 -0.9947413 -0.16464179] yaw=-49.6deg [env.py: 1019] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.4ms [env.py: 1075] +05/12 00:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -0.995, -0.165) [env.py: 1079] +05/12 00:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 00:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 00:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:48:50 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 00:48:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 00:48:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:48:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:48:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:48:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:48:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:48:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.69s (batch: 3.76s, save: 9.93s) [pipeline.py: 300] +05/12 00:48:56 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.72s: + episode_total: mean=83.08s, total=249.23s, count=3, min=178.8ms, max=176055.0ms + sensor_polling: mean=349.2ms, total=155.75s, count=446, min=302.7ms, max=608.3ms + physics_step: mean=23.0ms, total=10.26s, count=446, min=15.0ms, max=53.2ms + save_trajectories: mean=9.93s, total=9.93s, count=1, min=9925.9ms, max=9925.9ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3762.4ms, max=3762.4ms + task_specific_sample: mean=297.3ms, total=892.0ms, count=3, min=173.9ms, max=449.1ms + task_sampling: mean=361.7ms, total=723.4ms, count=2, min=272.0ms, max=451.4ms + task_sampling_failed: mean=178.8ms, total=178.8ms, count=1, min=178.8ms, max=178.8ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=0.9ms, max=1.7ms + mj_forward_sync: mean=362.9us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:48:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114347m [env.py: 870] +05/12 00:48:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.648s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:48:58 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.747[m] 87.722[deg] [grasp_sample.py: 539] +05/12 00:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=456.4ms, total=456.5ms [env.py: 1105] +05/12 00:48:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:48:58 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:48:59 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:48:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:48:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:48:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:48:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:48:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:48:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:48:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170653m [env.py: 870] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:48:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=290.7ms, total=290.7ms [env.py: 1105] +05/12 00:49:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:49:00 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:49:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:49:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:49:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:49:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:49:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:49:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:49:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110038m [env.py: 870] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:49:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.1ms, total=220.2ms [env.py: 1105] +05/12 00:49:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:49:00 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:49:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:49:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:49:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:49:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:49:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:49:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127416m [env.py: 870] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:49:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26998511 -1.12111789 -0.1274157 ] yaw=-44.5deg [env.py: 1019] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:49:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.5ms [env.py: 1075] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.121, -0.127) [env.py: 1079] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg [env.py: 1082] +05/12 00:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:49:01 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 00:49:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 00:49:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:49:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:49:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:49:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:49:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:49:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:49:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:49:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:49:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184388m [env.py: 870] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:49:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58422869 -0.95034898 -0.18438769] yaw=-75.0deg [env.py: 1019] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:49:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.9ms, total=227.9ms [env.py: 1075] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.950, -0.184) [env.py: 1079] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg [env.py: 1082] +05/12 00:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:49:02 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 00:49:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 00:49:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:49:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:49:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:49:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.628s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:49:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.737[m] 92.219[deg] [grasp_sample.py: 539] +05/12 00:49:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:49:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:49:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:49:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:49:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.402s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:49:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.633[m] 90.563[deg] [grasp_sample.py: 539] +05/12 00:49:09 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:49:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:49:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:49:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:49:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:49:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:49:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189857m [env.py: 870] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:49:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4726863 -1.02789747 -0.18985706] yaw=-58.0deg [env.py: 1019] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:49:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1075] +05/12 00:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -1.028, -0.190) [env.py: 1079] +05/12 00:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 00:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 00:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:49:11 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 00:49:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:49:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:49:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:49:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:49:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:49:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.627[m] 90.307[deg] [grasp_sample.py: 539] +05/12 00:49:14 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:49:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:49:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:49:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:49:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188742m [env.py: 870] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22012259 -1.04513317 -0.18874193] yaw=-50.5deg [env.py: 1019] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:49:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=217.7ms, total=217.8ms [env.py: 1075] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.045, -0.189) [env.py: 1079] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/12 00:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:49:15 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 00:49:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:49:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:49:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:49:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:49:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.536s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:49:19 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.741[m] 90.346[deg] [grasp_sample.py: 539] +05/12 00:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:49:20 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:49:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:49:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:49:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:49:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:49:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:49:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168034m [env.py: 870] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:49:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36049745 -0.82777409 -0.16803398] yaw=-67.5deg [env.py: 1019] +05/12 00:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:49:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.1ms, total=220.2ms [env.py: 1075] +05/12 00:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.360, -0.828, -0.168) [env.py: 1079] +05/12 00:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/12 00:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 00:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:49:22 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 00:49:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:49:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:49:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:49:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:49:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.343s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:49:23 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:49:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:49:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:49:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:49:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:49:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:49:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158419m [env.py: 870] +05/12 00:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:49:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35878759 -1.06278338 -0.15841894] yaw=-53.4deg [env.py: 1019] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:49:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.3ms, total=213.4ms [env.py: 1075] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.063, -0.158) [env.py: 1079] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 00:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 00:49:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:49:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:49:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:49:25 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 00:49:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:49:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:49:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:49:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:49:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.949s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:49:28 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.673[m] 85.746[deg] [grasp_sample.py: 539] +05/12 00:49:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:49:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:49:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:49:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:49:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:49:35 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:49:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:49:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:49:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:49:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:49:53 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/12 00:49:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:50:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:50:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:50:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:50:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.38s (batch: 3.30s, save: 8.08s) [pipeline.py: 300] +05/12 00:50:05 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.45s: + episode_total: mean=69.22s, total=138.44s, count=2, min=241.5ms, max=138195.9ms + sensor_polling: mean=381.3ms, total=96.86s, count=254, min=311.1ms, max=692.8ms + save_trajectories: mean=8.08s, total=8.08s, count=1, min=8080.8ms, max=8080.8ms + physics_step: mean=23.7ms, total=6.02s, count=254, min=15.1ms, max=40.4ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3299.6ms, max=3299.6ms + task_specific_sample: mean=342.0ms, total=683.9ms, count=2, min=235.0ms, max=448.9ms + task_sampling: mean=451.6ms, total=451.6ms, count=1, min=451.6ms, max=451.6ms + task_sampling_failed: mean=241.5ms, total=241.5ms, count=1, min=241.5ms, max=241.5ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.0ms, max=1.5ms + mj_forward_sync: mean=537.0us, total=1.1ms, count=2, min=0.4ms, max=0.7ms + policy_setup: mean=12.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:50:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:50:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:50:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:50:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:50:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:50:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125037m [env.py: 870] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:50:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52537737 -0.77631532 -0.12503745] yaw=-66.2deg [env.py: 1019] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:50:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=213.0ms [env.py: 1075] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.776, -0.125) [env.py: 1079] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 00:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:50:07 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 00:50:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 00:50:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:50:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:50:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:50:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:50:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.315s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:50:08 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:50:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:50:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:50:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:50:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:50:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:50:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138251m [env.py: 870] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:50:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.62286988 -0.80788597 -0.13825123] yaw=-66.1deg [env.py: 1019] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:50:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=257.9ms, total=258.0ms [env.py: 1075] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.623, -0.808, -0.138) [env.py: 1079] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/12 00:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:50:10 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 00:50:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 00:50:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:50:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:50:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:50:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.650s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:50:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.786[m] 83.005[deg] [grasp_sample.py: 539] +05/12 00:50:13 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:50:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:50:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:50:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:50:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:50:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:50:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176609m [env.py: 870] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:50:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45644145 -0.97232429 -0.17660898] yaw=-66.3deg [env.py: 1019] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:50:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.4ms, total=247.5ms [env.py: 1075] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.972, -0.177) [env.py: 1079] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 00:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:50:15 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 00:50:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:50:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:50:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:50:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:50:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.650s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:50:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.665[m] 80.366[deg] [grasp_sample.py: 539] +05/12 00:50:18 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:50:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:50:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:50:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:50:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:50:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:50:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178111m [env.py: 870] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:50:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5481376 -0.83615516 -0.17811058] yaw=-64.3deg [env.py: 1019] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42601164 -0.87312218 -0.17811058] yaw=-56.0deg [env.py: 1019] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22579558 -1.0863082 -0.17811058] yaw=-41.2deg [env.py: 1019] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:50:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=208.9ms [env.py: 1075] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -0.836, -0.178) [env.py: 1079] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg [env.py: 1082] +05/12 00:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:50:20 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 00:50:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:50:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:50:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:50:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:50:20 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:50:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.269s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:50:23 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.755[m] 87.047[deg] [grasp_sample.py: 539] +05/12 00:50:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:50:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:50:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:50:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:50:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:50:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:50:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:50:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:50:40 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 00:50:48 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:50:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:50:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:50:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.96s (batch: 3.15s, save: 8.81s) [pipeline.py: 300] +05/12 00:50:53 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=1.49s: + episode_total: mean=22.45s, total=157.15s, count=7, min=205.8ms, max=145070.0ms + sensor_polling: mean=341.8ms, total=93.32s, count=273, min=298.9ms, max=569.4ms + save_trajectories: mean=8.81s, total=8.81s, count=1, min=8806.3ms, max=8806.3ms + physics_step: mean=23.2ms, total=6.33s, count=273, min=14.4ms, max=129.5ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3154.8ms, max=3154.8ms + task_specific_sample: mean=366.2ms, total=2.56s, count=7, min=201.6ms, max=541.5ms + task_sampling: mean=498.1ms, total=1.49s, count=3, min=420.6ms, max=544.3ms + task_sampling_failed: mean=272.2ms, total=1.09s, count=4, min=205.8ms, max=424.5ms + scene_randomize: mean=1.1ms, total=7.7ms, count=7, min=0.9ms, max=1.7ms + mj_forward_sync: mean=387.2us, total=2.7ms, count=7, min=0.3ms, max=0.5ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:50:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:50:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:50:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:50:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:50:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:50:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198580m [env.py: 870] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:50:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40773491 -0.77779906 -0.19857977] yaw=-58.3deg [env.py: 1019] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:50:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.5ms, total=184.6ms [env.py: 1075] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -0.778, -0.199) [env.py: 1079] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 00:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:50:54 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 00:50:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 00:50:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:50:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:50:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:50:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:50:56 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:50:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:50:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:50:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:50:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:50:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:50:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198995m [env.py: 870] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:50:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2355392 -1.11685974 -0.19899519] yaw=-36.3deg [env.py: 1019] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4048177 -1.04162374 -0.19899519] yaw=-52.0deg [env.py: 1019] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54398634 -0.78455733 -0.19899519] yaw=-59.3deg [env.py: 1019] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:50:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=377.1ms, total=377.1ms [env.py: 1075] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.117, -0.199) [env.py: 1079] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg [env.py: 1082] +05/12 00:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:50:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:50:58 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 00:50:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 00:50:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:50:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:50:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:50:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:50:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.690[m] 86.827[deg] [grasp_sample.py: 539] +05/12 00:51:00 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:51:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106553m [env.py: 870] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07978315 -1.06464157 -0.10655264] yaw=-26.4deg [env.py: 1019] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:51:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=255.0ms, total=255.1ms [env.py: 1075] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.080, -1.065, -0.107) [env.py: 1079] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.4 deg [env.py: 1082] +05/12 00:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:51:02 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 00:51:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 00:51:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:51:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:51:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:51:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.298s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:51:04 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:51:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103256m [env.py: 870] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58012168 -0.81262745 -0.10325584] yaw=-64.0deg [env.py: 1019] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:51:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=237.2ms, total=237.2ms [env.py: 1075] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.580, -0.813, -0.103) [env.py: 1079] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 00:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:51:05 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 00:51:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:51:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:51:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:51:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:51:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:51:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:51:11 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 00:51:17 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:51:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:51:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:51:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:51:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.27s (batch: 3.29s, save: 8.98s) [pipeline.py: 300] +05/12 00:51:24 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.44s: + episode_total: mean=47.98s, total=143.95s, count=3, min=299.6ms, max=143184.5ms + sensor_polling: mean=336.4ms, total=95.55s, count=284, min=302.2ms, max=508.0ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8978.4ms, max=8978.4ms + physics_step: mean=22.4ms, total=6.35s, count=284, min=15.0ms, max=53.9ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3293.9ms, max=3293.9ms + task_specific_sample: mean=400.1ms, total=1.20s, count=3, min=295.7ms, max=462.0ms + task_sampling_failed: mean=382.6ms, total=765.2ms, count=2, min=299.6ms, max=465.6ms + task_sampling: mean=444.7ms, total=444.7ms, count=1, min=444.7ms, max=444.7ms + scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=0.9ms, max=1.7ms + mj_forward_sync: mean=356.0us, total=1.1ms, count=3, min=0.3ms, max=0.4ms + policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:51:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192229m [env.py: 870] +05/12 00:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23416953 -1.02503282 -0.19222923] yaw=-53.4deg [env.py: 1019] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:51:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=286.4ms, total=286.4ms [env.py: 1075] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -1.025, -0.192) [env.py: 1079] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 00:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 00:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:51:26 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 00:51:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 00:51:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:51:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:51:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:51:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:51:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.525s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:51:30 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.790[m] 90.972[deg] [grasp_sample.py: 539] +05/12 00:51:31 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:51:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165634m [env.py: 870] +05/12 00:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.6ms, total=212.6ms [env.py: 1105] +05/12 00:51:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:51:33 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:51:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150837m [env.py: 870] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5126356 -1.05179318 -0.15083687] yaw=-47.4deg [env.py: 1019] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24801646 -1.14733977 -0.15083687] yaw=-35.3deg [env.py: 1019] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms [env.py: 1075] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -1.052, -0.151) [env.py: 1079] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/12 00:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:51:34 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 00:51:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 00:51:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:51:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:51:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:51:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.796s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:51:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.653[m] 80.834[deg] [grasp_sample.py: 539] +05/12 00:51:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:51:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:51:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:51:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:51:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:51:37 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 00:51:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.739s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:51:40 INFO: [Worker 0] Feasible grasp found 461 (originally 461): w/ 0.737[m] 91.536[deg] [grasp_sample.py: 539] +05/12 00:51:41 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:51:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112351m [env.py: 870] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.4ms, total=204.5ms [env.py: 1105] +05/12 00:51:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:51:42 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:51:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116148m [env.py: 870] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65558633 -0.89372777 -0.11614813] yaw=-78.2deg [env.py: 1019] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:51:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.9ms, total=216.9ms [env.py: 1075] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.656, -0.894, -0.116) [env.py: 1079] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.2 deg [env.py: 1082] +05/12 00:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:51:44 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 00:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:51:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:51:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:51:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:51:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:51:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.00s (batch: 3.25s, save: 8.75s) [pipeline.py: 300] +05/12 00:51:50 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=3.47s: + episode_total: mean=16.07s, total=176.78s, count=11, min=186.6ms, max=145265.8ms + sensor_polling: mean=363.9ms, total=98.25s, count=270, min=306.0ms, max=641.1ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8753.8ms, max=8753.8ms + physics_step: mean=23.4ms, total=6.31s, count=270, min=14.6ms, max=37.4ms + task_specific_sample: mean=391.4ms, total=4.31s, count=11, min=183.1ms, max=888.2ms + task_sampling: mean=495.9ms, total=3.47s, count=7, min=420.0ms, max=890.1ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3248.3ms, max=3248.3ms + task_sampling_failed: mean=216.0ms, total=864.1ms, count=4, min=186.6ms, max=229.5ms + scene_randomize: mean=1.2ms, total=12.7ms, count=11, min=0.9ms, max=1.8ms + mj_forward_sync: mean=387.4us, total=4.3ms, count=11, min=0.4ms, max=0.5ms + policy_setup: mean=12.8us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:51:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186123m [env.py: 870] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.9ms, total=218.9ms [env.py: 1105] +05/12 00:51:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:51:51 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:51:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140289m [env.py: 870] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.2ms, total=191.2ms [env.py: 1105] +05/12 00:51:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:51:53 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:51:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110359m [env.py: 870] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51117265 -0.74493059 -0.11035923] yaw=-70.1deg [env.py: 1019] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3746218 -0.9667655 -0.11035923] yaw=-44.1deg [env.py: 1019] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:51:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -0.745, -0.110) [env.py: 1079] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg [env.py: 1082] +05/12 00:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:51:54 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 00:51:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 00:51:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:51:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:51:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:51:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.271s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:51:56 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:51:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:51:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:51:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:51:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:51:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:51:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186004m [env.py: 870] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:51:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64229977 -0.953133 -0.18600377] yaw=-60.5deg [env.py: 1019] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:51:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.2ms, total=211.2ms [env.py: 1075] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.642, -0.953, -0.186) [env.py: 1079] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.5 deg [env.py: 1082] +05/12 00:51:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:51:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:51:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:51:58 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 00:51:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 00:51:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:51:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:51:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:51:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.641s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:51:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.617[m] 87.832[deg] [grasp_sample.py: 539] +05/12 00:51:59 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:52:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:52:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:52:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:52:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:52:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:52:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:52:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180552m [env.py: 870] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:52:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38647752 -0.92948126 -0.1805519 ] yaw=-55.4deg [env.py: 1019] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:52:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.6ms, total=215.7ms [env.py: 1075] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -0.929, -0.181) [env.py: 1079] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 00:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:52:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:52:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:52:01 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 00:52:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:52:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:52:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:52:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:52:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.936s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:52:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.703[m] 82.654[deg] [grasp_sample.py: 539] +05/12 00:52:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:52:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:52:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:52:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.692s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:52:08 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.696[m] 91.539[deg] [grasp_sample.py: 539] +05/12 00:52:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:52:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:52:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:52:17 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:52:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:52:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:52:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:52:37 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 00:52:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:52:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:52:51 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:52:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:52:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:52:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:52:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 363 non-colliding grasps [grasp_sample.py: 465] +05/12 00:52:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:52:52 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.051[m] 0.625[deg] [grasp_sample.py: 539] +05/12 00:52:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:52:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:52:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:52:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.64s (batch: 3.96s, save: 10.69s) [pipeline.py: 300] +05/12 00:52:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:52:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:52:52 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=1.89s: + episode_total: mean=40.57s, total=162.28s, count=4, min=1955.7ms, max=153326.9ms + sensor_polling: mean=367.9ms, total=105.21s, count=286, min=312.8ms, max=634.5ms + save_trajectories: mean=10.69s, total=10.69s, count=1, min=10685.6ms, max=10685.6ms + physics_step: mean=21.9ms, total=6.26s, count=286, min=14.7ms, max=32.1ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.9ms, max=3957.9ms + task_sampling: mean=471.3ms, total=1.89s, count=4, min=422.3ms, max=572.6ms + task_specific_sample: mean=468.3ms, total=1.87s, count=4, min=420.1ms, max=569.3ms + scene_randomize: mean=1.5ms, total=6.0ms, count=4, min=1.0ms, max=2.7ms + mj_forward_sync: mean=487.8us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=14.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:52:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:52:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:52:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:52:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:52:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:52:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:52:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138946m [env.py: 870] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:52:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=322.9ms, total=323.0ms [env.py: 1105] +05/12 00:52:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:52:54 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:52:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:52:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:52:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:52:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:52:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:52:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:52:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107946m [env.py: 870] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:52:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28245213 -1.00222177 -0.1079456 ] yaw=-42.2deg [env.py: 1019] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3845493 -1.09216337 -0.1079456 ] yaw=-51.4deg [env.py: 1019] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:52:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:52:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48210344 -0.87683414 -0.1079456 ] yaw=-64.6deg [env.py: 1019] +05/12 00:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:52:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=483.1ms, total=483.2ms [env.py: 1075] +05/12 00:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.002, -0.108) [env.py: 1079] +05/12 00:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 00:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/12 00:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:52:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:52:56 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 00:52:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 00:52:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:52:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:52:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:52:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:52:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:52:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:52:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:52:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:52:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.315s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:53:00 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.124[m] 16.099[deg] [grasp_sample.py: 539] +05/12 00:53:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:53:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:53:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.786s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:53:04 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.800[m] 94.572[deg] [grasp_sample.py: 539] +05/12 00:53:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:53:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:53:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:53:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:53:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:53:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.406s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:53:07 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.249[m] 17.190[deg] [grasp_sample.py: 539] +05/12 00:53:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:53:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:53:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:53:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:53:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:53:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:53:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:53:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:53:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:53:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:53:10 INFO: [Worker 0] Feasible grasp found 486 (originally 486): w/ 0.592[m] 38.341[deg] [grasp_sample.py: 539] +05/12 00:53:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 481 non-colliding grasps [grasp_sample.py: 465] +05/12 00:53:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:53:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:53:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:53:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.071[m] 32.157[deg] [grasp_sample.py: 539] +05/12 00:53:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:53:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:53:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 00:53:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:53:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:53:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:53:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 382 non-colliding grasps [grasp_sample.py: 465] +05/12 00:53:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.371s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:53:15 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.048[m] 0.550[deg] [grasp_sample.py: 539] +05/12 00:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:53:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:53:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:53:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:53:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:36 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:53:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:53:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:53:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:53:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:53:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.367s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:53:55 INFO: [Worker 0] Feasible grasp found 370 (originally 370): w/ 0.191[m] 11.536[deg] [grasp_sample.py: 539] +05/12 00:53:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:53:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:53:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:53:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:53:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:53:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 00:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:54:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:54:08 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:54:08 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=False episode_total=0.96s: + episode_total: mean=53.46s, total=160.37s, count=3, min=212.7ms, max=144665.9ms + sensor_polling: mean=325.9ms, total=78.55s, count=241, min=294.2ms, max=557.9ms + physics_step: mean=21.2ms, total=5.12s, count=241, min=14.9ms, max=56.4ms + task_specific_sample: mean=389.2ms, total=1.17s, count=3, min=209.1ms, max=542.5ms + task_sampling: mean=482.3ms, total=964.7ms, count=2, min=418.0ms, max=546.7ms + task_sampling_failed: mean=212.6ms, total=212.6ms, count=1, min=212.6ms, max=212.6ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=448.0us, total=1.3ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=23.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:54:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143665m [env.py: 870] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.4ms, total=226.4ms [env.py: 1105] +05/12 00:54:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:54:10 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:54:11 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:54:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101643m [env.py: 870] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2859196 -1.06716482 -0.10164259] yaw=-47.4deg [env.py: 1019] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms [env.py: 1075] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.067, -0.102) [env.py: 1079] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/12 00:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:12 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:54:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:54:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.66s (batch: 4.01s, save: 11.66s) [pipeline.py: 300] +05/12 00:54:15 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=2.47s: + episode_total: mean=32.49s, total=194.95s, count=6, min=222.2ms, max=161068.4ms + sensor_polling: mean=352.8ms, total=105.83s, count=300, min=295.7ms, max=642.0ms + save_trajectories: mean=11.66s, total=11.66s, count=1, min=11659.4ms, max=11659.4ms + physics_step: mean=22.9ms, total=6.86s, count=300, min=18.9ms, max=60.6ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.3ms, max=4005.3ms + task_specific_sample: mean=445.2ms, total=2.67s, count=6, min=217.8ms, max=648.7ms + task_sampling: mean=493.3ms, total=2.47s, count=5, min=403.0ms, max=651.3ms + task_sampling_failed: mean=222.2ms, total=222.2ms, count=1, min=222.2ms, max=222.2ms + scene_randomize: mean=1.4ms, total=8.1ms, count=6, min=0.9ms, max=2.4ms + mj_forward_sync: mean=428.8us, total=2.6ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199343m [env.py: 870] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=746.2ms, total=746.3ms [env.py: 1105] +05/12 00:54:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:54:17 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155934m [env.py: 870] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44235543 -1.05007327 -0.15593386] yaw=-49.6deg [env.py: 1019] +05/12 00:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=341.1ms, total=341.2ms [env.py: 1075] +05/12 00:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.050, -0.156) [env.py: 1079] +05/12 00:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 00:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 00:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:19 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.691s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:54:20 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.728[m] 84.915[deg] [grasp_sample.py: 539] +05/12 00:54:22 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.979s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:54:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.664[m] 77.776[deg] [grasp_sample.py: 539] +05/12 00:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:54:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:54:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:54:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181530m [env.py: 870] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36207077 -1.17004846 -0.18153024] yaw=-43.5deg [env.py: 1019] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=413.9ms, total=413.9ms [env.py: 1075] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.170, -0.182) [env.py: 1079] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/12 00:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:24 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:54:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:54:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.599[m] 77.348[deg] [grasp_sample.py: 539] +05/12 00:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:54:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:54:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:54:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:54:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:54:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:54:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:54:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:31 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:54:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:54:31 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/12 00:54:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.572s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:54:32 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:54:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196258m [env.py: 870] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=214.4ms, total=214.4ms [env.py: 1105] +05/12 00:54:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:54:34 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:54:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191812m [env.py: 870] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.2ms, total=218.2ms [env.py: 1105] +05/12 00:54:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:54:35 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:54:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182726m [env.py: 870] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.4ms, total=207.4ms [env.py: 1105] +05/12 00:54:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:54:37 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:54:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121273m [env.py: 870] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18012373 -1.04101588 -0.12127316] yaw=-32.2deg [env.py: 1019] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.8ms, total=205.8ms [env.py: 1075] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.041, -0.121) [env.py: 1079] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.2 deg [env.py: 1082] +05/12 00:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:39 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.542s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:54:40 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:54:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108374m [env.py: 870] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17544533 -1.02366704 -0.10837391] yaw=-50.8deg [env.py: 1019] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=243.3ms, total=243.3ms [env.py: 1075] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.024, -0.108) [env.py: 1079] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 00:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:42 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.639s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:54:44 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:54:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122380m [env.py: 870] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52738737 -0.78027169 -0.12238005] yaw=-67.4deg [env.py: 1019] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24282995 -1.14198025 -0.12238005] yaw=-48.3deg [env.py: 1019] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23185324 -1.13607371 -0.12238005] yaw=-28.9deg [env.py: 1019] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.0ms, total=215.0ms [env.py: 1075] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.780, -0.122) [env.py: 1079] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.4 deg [env.py: 1082] +05/12 00:54:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:46 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:54:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:54:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.99s (batch: 3.92s, save: 11.06s) [pipeline.py: 300] +05/12 00:54:47 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.28s: + episode_total: mean=34.13s, total=170.67s, count=5, min=199.4ms, max=166099.2ms + sensor_polling: mean=346.3ms, total=102.50s, count=296, min=299.3ms, max=536.5ms + save_trajectories: mean=11.06s, total=11.06s, count=1, min=11062.5ms, max=11062.5ms + physics_step: mean=22.4ms, total=6.64s, count=296, min=14.7ms, max=33.1ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3924.1ms, max=3924.1ms + task_specific_sample: mean=339.3ms, total=1.70s, count=5, min=196.0ms, max=447.2ms + task_sampling: mean=427.4ms, total=1.28s, count=3, min=412.6ms, max=449.1ms + task_sampling_failed: mean=213.9ms, total=427.9ms, count=2, min=199.4ms, max=228.5ms + scene_randomize: mean=1.2ms, total=6.0ms, count=5, min=0.9ms, max=2.2ms + mj_forward_sync: mean=377.4us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:54:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:54:47 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174485m [env.py: 870] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44084103 -0.9022688 -0.17448526] yaw=-49.1deg [env.py: 1019] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167576m [env.py: 870] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=411.9ms, total=411.9ms [env.py: 1075] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -0.902, -0.174) [env.py: 1079] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.0ms, total=232.0ms [env.py: 1105] +05/12 00:54:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:54:49 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:54:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:49 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:54:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:54:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:54:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:54:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:54:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197959m [env.py: 870] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:54:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34567222 -1.16545248 -0.19795947] yaw=-35.3deg [env.py: 1019] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48427693 -0.87269283 -0.19795947] yaw=-67.7deg [env.py: 1019] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:54:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=484.8ms, total=484.9ms [env.py: 1075] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -1.165, -0.198) [env.py: 1079] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 00:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:54:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:54:51 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 00:54:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 00:54:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:54:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:54:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:54:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.553s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:54:52 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.625[m] 94.361[deg] [grasp_sample.py: 539] +05/12 00:54:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:54:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:54:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:54:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.915s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:54:53 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.752[m] 87.457[deg] [grasp_sample.py: 539] +05/12 00:54:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:54:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:54:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:54:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:54:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:55:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:55:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:55:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:55:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:55:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:55:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:55:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:55:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:55:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:55:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:55:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:56:03 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:56:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:56:07 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:56:21 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:56:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:56:21 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/12 00:56:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:56:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 00:56:25 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 00:56:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:56:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:56:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.40s (batch: 3.35s, save: 8.05s) [pipeline.py: 300] +05/12 00:56:33 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=1.09s: + episode_total: mean=46.98s, total=140.95s, count=3, min=236.1ms, max=130283.8ms + sensor_polling: mean=353.3ms, total=89.74s, count=254, min=298.9ms, max=822.9ms + save_trajectories: mean=8.05s, total=8.05s, count=1, min=8049.4ms, max=8049.4ms + physics_step: mean=22.9ms, total=5.83s, count=254, min=14.6ms, max=57.5ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3347.4ms, max=3347.4ms + task_specific_sample: mean=438.7ms, total=1.32s, count=3, min=231.4ms, max=657.9ms + task_sampling: mean=545.1ms, total=1.09s, count=2, min=429.9ms, max=660.3ms + task_sampling_failed: mean=236.1ms, total=236.1ms, count=1, min=236.1ms, max=236.1ms + scene_randomize: mean=1.0ms, total=3.0ms, count=3, min=0.9ms, max=1.1ms + mj_forward_sync: mean=377.8us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:56:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128528m [env.py: 870] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.9ms, total=217.9ms [env.py: 1105] +05/12 00:56:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:56:35 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122296m [env.py: 870] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23837095 -0.99145545 -0.12229633] yaw=-41.5deg [env.py: 1019] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.0ms, total=209.0ms [env.py: 1075] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -0.991, -0.122) [env.py: 1079] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/12 00:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:56:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:56:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.43s (batch: 3.13s, save: 8.29s) [pipeline.py: 300] +05/12 00:56:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:56:36 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 00:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 00:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:56:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:56:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:56:37 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.60s: + episode_total: mean=69.55s, total=139.10s, count=2, min=756.5ms, max=138342.3ms + sensor_polling: mean=334.2ms, total=89.57s, count=268, min=296.4ms, max=643.9ms + save_trajectories: mean=8.29s, total=8.29s, count=1, min=8294.7ms, max=8294.7ms + physics_step: mean=21.4ms, total=5.73s, count=268, min=19.2ms, max=41.2ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3134.3ms, max=3134.3ms + task_specific_sample: mean=675.1ms, total=1.35s, count=2, min=598.1ms, max=752.0ms + task_sampling_failed: mean=756.5ms, total=756.5ms, count=1, min=756.5ms, max=756.5ms + task_sampling: mean=600.7ms, total=600.7ms, count=1, min=600.7ms, max=600.7ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.0ms, max=2.5ms + mj_forward_sync: mean=405.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:56:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:56:38 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:56:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185579m [env.py: 870] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.5ms, total=189.5ms [env.py: 1105] +05/12 00:56:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:56:38 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197318m [env.py: 870] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50923467 -0.9268958 -0.19731786] yaw=-51.6deg [env.py: 1019] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:56:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.1ms [env.py: 1075] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -0.927, -0.197) [env.py: 1079] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125745m [env.py: 870] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=211.6ms, total=211.7ms [env.py: 1105] +05/12 00:56:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:56:40 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:56:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:56:40 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 00:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 00:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:56:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:56:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:56:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132722m [env.py: 870] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2881582 -1.11146763 -0.13272206] yaw=-52.7deg [env.py: 1019] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31707152 -1.17229043 -0.13272206] yaw=-47.3deg [env.py: 1019] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2185956 -1.02432681 -0.13272206] yaw=-43.1deg [env.py: 1019] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:56:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.5ms, total=196.5ms [env.py: 1075] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.111, -0.133) [env.py: 1079] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 00:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:56:41 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 00:56:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 00:56:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:56:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:56:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:56:42 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:56:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.298s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:56:44 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.684[m] 91.869[deg] [grasp_sample.py: 539] +05/12 00:56:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:56:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:56:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:56:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.092s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:56:46 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.695[m] 92.296[deg] [grasp_sample.py: 539] +05/12 00:56:47 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:56:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111855m [env.py: 870] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43060321 -1.11476736 -0.11185512] yaw=-48.4deg [env.py: 1019] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:56:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.5ms [env.py: 1075] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.431, -1.115, -0.112) [env.py: 1079] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/12 00:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:56:48 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 00:56:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 00:56:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:56:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:56:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:56:49 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:56:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:56:54 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.677[m] 85.224[deg] [grasp_sample.py: 539] +05/12 00:56:55 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:56:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152131m [env.py: 870] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.0ms, total=199.1ms [env.py: 1105] +05/12 00:56:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:56:57 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:56:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:56:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:56:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:56:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:56:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:56:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164099m [env.py: 870] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:56:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52945096 -0.90850024 -0.16409883] yaw=-58.2deg [env.py: 1019] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:56:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1075] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.909, -0.164) [env.py: 1079] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 00:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:56:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:56:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:56:58 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 00:56:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:56:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:56:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:56:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:57:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.703s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:57:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.702[m] 94.500[deg] [grasp_sample.py: 539] +05/12 00:57:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:57:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:57:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:57:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:57:03 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:57:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:57:03 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 00:57:08 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:57:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 00:57:08 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 00:57:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:57:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:57:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.74s (batch: 3.97s, save: 9.77s) [pipeline.py: 300] +05/12 00:57:17 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.84s: + episode_total: mean=149.40s, total=149.40s, count=1, min=149402.4ms, max=149402.4ms + sensor_polling: mean=351.5ms, total=100.17s, count=285, min=297.6ms, max=564.1ms + save_trajectories: mean=9.77s, total=9.77s, count=1, min=9769.7ms, max=9769.7ms + physics_step: mean=22.3ms, total=6.35s, count=285, min=14.6ms, max=104.8ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3968.9ms, max=3968.9ms + task_sampling: mean=837.1ms, total=837.1ms, count=1, min=837.1ms, max=837.1ms + task_specific_sample: mean=833.4ms, total=833.4ms, count=1, min=833.4ms, max=833.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=417.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:57:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:57:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:57:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:57:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:57:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:57:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192691m [env.py: 870] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:57:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18510445 -1.10506947 -0.19269134] yaw=-39.3deg [env.py: 1019] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66922766 -0.93341888 -0.19269134] yaw=-80.6deg [env.py: 1019] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:57:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:57:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.56s (batch: 3.18s, save: 8.39s) [pipeline.py: 300] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:57:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=689.3ms, total=689.3ms [env.py: 1075] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.185, -1.105, -0.193) [env.py: 1079] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/12 00:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:57:20 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 00:57:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 00:57:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:57:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:57:20 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=2.80s: + episode_total: mean=25.45s, total=254.54s, count=10, min=215.2ms, max=149847.8ms + sensor_polling: mean=386.8ms, total=175.59s, count=454, min=316.1ms, max=636.2ms + physics_step: mean=22.8ms, total=10.35s, count=454, min=14.6ms, max=36.9ms + save_trajectories: mean=8.39s, total=8.39s, count=1, min=8388.8ms, max=8388.8ms + task_specific_sample: mean=400.9ms, total=4.01s, count=10, min=212.3ms, max=751.0ms + save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3175.1ms, max=3175.1ms + task_sampling: mean=559.8ms, total=2.80s, count=5, min=419.5ms, max=753.6ms + task_sampling_failed: mean=248.0ms, total=1.24s, count=5, min=215.2ms, max=334.7ms + scene_randomize: mean=1.2ms, total=11.6ms, count=10, min=1.0ms, max=2.3ms + mj_forward_sync: mean=418.8us, total=4.2ms, count=10, min=0.4ms, max=0.5ms + policy_setup: mean=12.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:57:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:57:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:57:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:57:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:57:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:57:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:57:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:57:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136119m [env.py: 870] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:57:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=170.1ms, total=170.1ms [env.py: 1105] +05/12 00:57:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:57:21 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:57:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:57:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:57:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:57:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:57:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:57:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114377m [env.py: 870] +05/12 00:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:57:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=168.4ms, total=168.4ms [env.py: 1105] +05/12 00:57:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:57:23 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:57:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:57:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:57:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:57:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:57:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:57:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125454m [env.py: 870] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:57:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51732864 -0.94730075 -0.12545423] yaw=-64.5deg [env.py: 1019] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22017207 -1.12272255 -0.12545423] yaw=-42.5deg [env.py: 1019] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:57:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.1ms [env.py: 1075] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -0.947, -0.125) [env.py: 1079] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg [env.py: 1082] +05/12 00:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:57:24 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 00:57:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 00:57:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:57:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:57:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:57:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.376s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:57:26 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.695[m] 88.971[deg] [grasp_sample.py: 539] +05/12 00:57:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:57:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:57:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:57:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:57:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.241s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:57:28 INFO: [Worker 0] Feasible grasp found 497 (originally 497): w/ 0.693[m] 82.738[deg] [grasp_sample.py: 539] +05/12 00:57:29 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:57:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:57:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:57:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:57:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:57:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:57:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:57:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182777m [env.py: 870] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:57:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=214.3ms, total=214.4ms [env.py: 1105] +05/12 00:57:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:57:31 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:57:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:57:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:57:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:57:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:57:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:57:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:57:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100830m [env.py: 870] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:57:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=200.0ms, total=200.1ms [env.py: 1105] +05/12 00:57:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:57:32 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:57:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:57:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:57:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:57:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:57:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:57:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175900m [env.py: 870] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:57:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35401443 -1.08655709 -0.17589971] yaw=-38.2deg [env.py: 1019] +05/12 00:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:57:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.0ms, total=218.0ms [env.py: 1075] +05/12 00:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -1.087, -0.176) [env.py: 1079] +05/12 00:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/12 00:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 00:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:57:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:57:34 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 00:57:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:57:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:57:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:57:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.269s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:57:36 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.694[m] 83.692[deg] [grasp_sample.py: 539] +05/12 00:57:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:57:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:57:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:57:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:57:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:57:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:57:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:57:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:57:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:57:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:57:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:57:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:57:58 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.600[m] 67.910[deg] [grasp_sample.py: 539] +05/12 00:57:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:57:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:57:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:58:00 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:58:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:58:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:58:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:58:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:58:01 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.220[m] 19.909[deg] [grasp_sample.py: 539] +05/12 00:58:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:58:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:58:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:58:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186731m [env.py: 870] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:58:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38235178 -0.83681592 -0.18673148] yaw=-49.1deg [env.py: 1019] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:58:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.4ms, total=223.5ms [env.py: 1075] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -0.837, -0.187) [env.py: 1079] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 00:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:58:01 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 00:58:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:58:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:58:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:58:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:58:02 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:58:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: False [grasp_sample.py: 500] +05/12 00:58:03 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 00:58:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:58:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:58:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:58:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:58:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:58:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176856m [env.py: 870] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:58:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.9ms, total=189.9ms [env.py: 1105] +05/12 00:58:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:58:04 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:58:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:58:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:58:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:58:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:58:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:58:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192125m [env.py: 870] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:58:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41753207 -0.96886064 -0.1921247 ] yaw=-62.6deg [env.py: 1019] +05/12 00:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:58:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.9ms, total=237.0ms [env.py: 1075] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.969, -0.192) [env.py: 1079] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:58:05 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 00:58:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 00:58:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:58:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:58:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:58:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:58:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:58:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:58:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:58:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:58:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143652m [env.py: 870] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:58:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.3ms, total=200.3ms [env.py: 1105] +05/12 00:58:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:58:05 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:58:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:58:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:58:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:58:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:58:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:58:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163946m [env.py: 870] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:58:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61000301 -0.77727873 -0.16394611] yaw=-68.4deg [env.py: 1019] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:58:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms [env.py: 1075] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.610, -0.777, -0.164) [env.py: 1079] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.4 deg [env.py: 1082] +05/12 00:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:58:07 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 00:58:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 00:58:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:58:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:58:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:58:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.891s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:58:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.700[m] 87.184[deg] [grasp_sample.py: 539] +05/12 00:58:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:58:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:58:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:58:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:58:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.778[m] 86.806[deg] [grasp_sample.py: 539] +05/12 00:58:11 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:58:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:58:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:58:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:58:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:58:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:58:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176155m [env.py: 870] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:58:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6186979 -0.96444601 -0.17615467] yaw=-60.4deg [env.py: 1019] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:58:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=522.2ms, total=522.2ms [env.py: 1075] +05/12 00:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.964, -0.176) [env.py: 1079] +05/12 00:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 00:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 00:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:58:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:58:13 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 00:58:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 00:58:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:58:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:58:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:58:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.622s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:58:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.631[m] 91.705[deg] [grasp_sample.py: 539] +05/12 00:58:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:58:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:58:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:58:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:36 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:58:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:58:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:58:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:58:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:58:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:58:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.749s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:58:43 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.504[m] 63.601[deg] [grasp_sample.py: 539] +05/12 00:58:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:58:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:58:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:58:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:58:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:58:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:58:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:58:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:58:56 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:58:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 00:58:56 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 00:58:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.815s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:58:57 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.504[m] 63.604[deg] [grasp_sample.py: 539] +05/12 00:58:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:58:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:58:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:59:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 00:59:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:59:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:59:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:59:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 00:59:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:59:11 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.504[m] 63.604[deg] [grasp_sample.py: 539] +05/12 00:59:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:59:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:59:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:59:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.21s (batch: 3.70s, save: 10.52s) [pipeline.py: 300] +05/12 00:59:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:59:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:59:11 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.95s: + episode_total: mean=51.46s, total=154.38s, count=3, min=229.6ms, max=152134.5ms + sensor_polling: mean=370.9ms, total=102.00s, count=275, min=297.3ms, max=835.5ms + save_trajectories: mean=10.52s, total=10.52s, count=1, min=10518.6ms, max=10518.6ms + physics_step: mean=24.0ms, total=6.61s, count=275, min=19.4ms, max=85.1ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3696.1ms, max=3696.1ms + task_specific_sample: mean=389.7ms, total=1.17s, count=3, min=223.6ms, max=490.9ms + task_sampling: mean=475.3ms, total=950.5ms, count=2, min=457.2ms, max=493.3ms + task_sampling_failed: mean=229.5ms, total=229.5ms, count=1, min=229.5ms, max=229.5ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.9ms, max=2.5ms + mj_forward_sync: mean=371.8us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:59:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 00:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:59:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:59:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:59:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:59:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:59:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198618m [env.py: 870] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:59:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=596.0ms, total=596.1ms [env.py: 1105] +05/12 00:59:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:59:13 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:59:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:59:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:59:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:59:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:59:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:59:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196271m [env.py: 870] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:59:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.0ms, total=206.1ms [env.py: 1105] +05/12 00:59:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:59:15 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:59:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:59:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:59:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:59:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:59:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158635m [env.py: 870] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:59:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20647745 -1.07055209 -0.15863522] yaw=-46.3deg [env.py: 1019] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:59:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.5ms [env.py: 1075] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.071, -0.159) [env.py: 1079] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 00:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:59:17 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 00:59:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 00:59:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:59:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.471s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:59:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.732[m] 87.136[deg] [grasp_sample.py: 539] +05/12 00:59:20 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 00:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:59:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:59:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:59:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:59:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:59:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197393m [env.py: 870] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:59:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49038723 -1.06920625 -0.19739342] yaw=-56.8deg [env.py: 1019] +05/12 00:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:59:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=581.0ms, total=581.1ms [env.py: 1075] +05/12 00:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -1.069, -0.197) [env.py: 1079] +05/12 00:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg [env.py: 1082] +05/12 00:59:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 00:59:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:59:22 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 00:59:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 00:59:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:59:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:59:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.597s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:59:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.583[m] 85.765[deg] [grasp_sample.py: 539] +05/12 00:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 00:59:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 00:59:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 00:59:24 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:59:24 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 00:59:24 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=False episode_total=2.45s: + episode_total: mean=15.41s, total=154.09s, count=10, min=199.2ms, max=71633.1ms + sensor_polling: mean=322.5ms, total=70.62s, count=219, min=291.8ms, max=519.9ms + physics_step: mean=19.6ms, total=4.29s, count=219, min=12.8ms, max=27.3ms + task_specific_sample: mean=345.4ms, total=3.45s, count=10, min=195.2ms, max=750.2ms + task_sampling: mean=489.5ms, total=2.45s, count=5, min=408.6ms, max=752.6ms + task_sampling_failed: mean=207.4ms, total=1.04s, count=5, min=199.2ms, max=221.8ms + scene_randomize: mean=1.2ms, total=12.5ms, count=10, min=1.0ms, max=2.4ms + mj_forward_sync: mean=418.5us, total=4.2ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=12.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:59:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:59:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:59:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:59:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:59:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:59:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:59:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:59:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:59:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:59:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:59:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169748m [env.py: 870] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:59:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33197708 -1.1128313 -0.16974843] yaw=-40.6deg [env.py: 1019] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:59:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=679.1ms, total=679.2ms [env.py: 1075] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -1.113, -0.170) [env.py: 1079] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 00:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 00:59:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:59:26 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 00:59:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 00:59:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:59:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:59:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 00:59:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.839s, found feasible grasp: True [grasp_sample.py: 500] +05/12 00:59:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.686[m] 72.458[deg] [grasp_sample.py: 539] +05/12 00:59:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 00:59:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 00:59:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 00:59:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 00:59:43 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 00:59:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 00:59:43 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 00:59:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 00:59:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 00:59:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.83s (batch: 3.21s, save: 8.62s) [pipeline.py: 300] +05/12 00:59:55 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 00:59:56 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=1.38s: + episode_total: mean=38.29s, total=153.18s, count=4, min=207.4ms, max=142261.6ms + sensor_polling: mean=359.3ms, total=98.45s, count=274, min=294.9ms, max=617.8ms + save_trajectories: mean=8.62s, total=8.62s, count=1, min=8619.7ms, max=8619.7ms + physics_step: mean=23.2ms, total=6.36s, count=274, min=15.0ms, max=37.8ms + save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3212.0ms, max=3212.0ms + task_specific_sample: mean=450.0ms, total=1.80s, count=4, min=204.7ms, max=938.5ms + task_sampling: mean=690.8ms, total=1.38s, count=2, min=439.6ms, max=942.1ms + task_sampling_failed: mean=215.0ms, total=430.1ms, count=2, min=207.4ms, max=222.7ms + scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=0.9ms, max=2.5ms + mj_forward_sync: mean=371.9us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 00:59:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:59:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:59:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:59:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:59:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:59:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164273m [env.py: 870] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:59:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=328.9ms, total=329.0ms [env.py: 1105] +05/12 00:59:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 00:59:57 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 00:59:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 00:59:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 00:59:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 00:59:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 00:59:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 00:59:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135532m [env.py: 870] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 00:59:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28484869 -1.11748262 -0.13553208] yaw=-51.9deg [env.py: 1019] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13815674 -1.03922953 -0.13553208] yaw=-38.1deg [env.py: 1019] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 00:59:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.3ms, total=328.4ms [env.py: 1075] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -1.117, -0.136) [env.py: 1079] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 00:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 00:59:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 00:59:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 00:59:59 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 00:59:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 00:59:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 00:59:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 00:59:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:00:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.441s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:00:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.746[m] 92.543[deg] [grasp_sample.py: 539] +05/12 01:00:02 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:00:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:00:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:00:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:00:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:00:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:00:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:00:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:00:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:00:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109523m [env.py: 870] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:00:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=268.8ms, total=268.9ms [env.py: 1105] +05/12 01:00:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:00:03 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:00:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:00:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:00:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:00:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:00:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:00:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159497m [env.py: 870] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:00:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.2ms, total=189.2ms [env.py: 1105] +05/12 01:00:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:00:05 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:00:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:00:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:00:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:00:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:00:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:00:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124274m [env.py: 870] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:00:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3539829 -1.0016133 -0.12427399] yaw=-58.1deg [env.py: 1019] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:00:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.4ms [env.py: 1075] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -1.002, -0.124) [env.py: 1079] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 01:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:00:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:00:07 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 01:00:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:00:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:00:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:00:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:00:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:00:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:00:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:00:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.433s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:00:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.158[m] 21.286[deg] [grasp_sample.py: 539] +05/12 01:00:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:00:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:00:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:15 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:00:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:00:15 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 01:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:00:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.709s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:00:19 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.758[m] 86.830[deg] [grasp_sample.py: 539] +05/12 01:00:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:00:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:00:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:00:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:00:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.39s (batch: 3.25s, save: 11.14s) [pipeline.py: 300] +05/12 01:00:31 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.34s: + episode_total: mean=36.84s, total=184.19s, count=5, min=176.2ms, max=146202.0ms + sensor_polling: mean=354.3ms, total=111.96s, count=316, min=290.5ms, max=590.4ms + save_trajectories: mean=11.14s, total=11.14s, count=1, min=11136.6ms, max=11136.6ms + physics_step: mean=21.3ms, total=6.74s, count=316, min=14.7ms, max=43.5ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3254.6ms, max=3254.6ms + task_specific_sample: mean=336.0ms, total=1.68s, count=5, min=173.2ms, max=490.9ms + task_sampling: mean=446.3ms, total=1.34s, count=3, min=382.6ms, max=493.8ms + task_sampling_failed: mean=178.1ms, total=356.1ms, count=2, min=176.2ms, max=179.9ms + scene_randomize: mean=1.5ms, total=7.3ms, count=5, min=1.0ms, max=2.4ms + mj_forward_sync: mean=414.9us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=16.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:00:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:00:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:00:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:00:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184383m [env.py: 870] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37978966 -1.09593964 -0.18438281] yaw=-55.0deg [env.py: 1019] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43544223 -1.08791198 -0.18438281] yaw=-43.3deg [env.py: 1019] +05/12 01:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27317143 -1.01166437 -0.18438281] yaw=-53.0deg [env.py: 1019] +05/12 01:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=915.9ms, total=916.0ms [env.py: 1075] +05/12 01:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -1.096, -0.184) [env.py: 1079] +05/12 01:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 01:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 01:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:00:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:00:33 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 01:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 01:00:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:00:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:00:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:00:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.692s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:00:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.601[m] 86.709[deg] [grasp_sample.py: 539] +05/12 01:00:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:00:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:00:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:00:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:00:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:00:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:00:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:00:59 INFO: [Worker 0] Object is not in grasp! 0.00139 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:00:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:00:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 383 non-colliding grasps [grasp_sample.py: 465] +05/12 01:01:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.406s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:01:01 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.069[m] 5.406[deg] [grasp_sample.py: 539] +05/12 01:01:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:01:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:01:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:07 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:01:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:01:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:23 INFO: [Worker 0] Object is not in grasp! 0.00126 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:01:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:01:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:01:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:01:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/12 01:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.366s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:01:24 INFO: [Worker 0] Feasible grasp found 28 (originally 28): w/ 0.072[m] 2.238[deg] [grasp_sample.py: 539] +05/12 01:01:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:01:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:01:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:01:26 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:01:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:01:26 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 01:01:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:01:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:01:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:01:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.64s (batch: 3.26s, save: 8.38s) [pipeline.py: 300] +05/12 01:01:38 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.99s: + episode_total: mean=132.77s, total=132.77s, count=1, min=132768.6ms, max=132768.6ms + sensor_polling: mean=335.1ms, total=90.83s, count=271, min=291.9ms, max=612.4ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8381.6ms, max=8381.6ms + physics_step: mean=21.6ms, total=5.85s, count=271, min=14.7ms, max=58.2ms + save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3255.9ms, max=3255.9ms + task_sampling: mean=985.2ms, total=985.2ms, count=1, min=985.2ms, max=985.2ms + task_specific_sample: mean=982.0ms, total=982.0ms, count=1, min=982.0ms, max=982.0ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=618.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=12.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:01:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:01:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:01:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:01:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:01:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:01:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:01:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114675m [env.py: 870] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48916644 -0.91191881 -0.11467501] yaw=-66.8deg [env.py: 1019] +05/12 01:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:01:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.4ms, total=224.4ms [env.py: 1075] +05/12 01:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.912, -0.115) [env.py: 1079] +05/12 01:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.8 deg [env.py: 1082] +05/12 01:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/12 01:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:01:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:01:40 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 01:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 01:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:01:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:01:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:01:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.382s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:01:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.700[m] 93.242[deg] [grasp_sample.py: 539] +05/12 01:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:01:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:01:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:45 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:01:45 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=1.25s: + episode_total: mean=37.18s, total=148.74s, count=4, min=215.9ms, max=144501.4ms + sensor_polling: mean=355.7ms, total=106.70s, count=300, min=303.8ms, max=755.1ms + physics_step: mean=23.4ms, total=7.01s, count=300, min=14.7ms, max=37.2ms + task_specific_sample: mean=516.4ms, total=2.07s, count=4, min=212.5ms, max=789.2ms + task_sampling: mean=626.9ms, total=1.25s, count=2, min=462.1ms, max=791.8ms + task_sampling_failed: mean=413.2ms, total=826.3ms, count=2, min=215.9ms, max=610.4ms + scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=0.9ms, max=3.7ms + mj_forward_sync: mean=526.9us, total=2.1ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:01:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:01:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:01:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:01:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:01:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:01:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:01:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113875m [env.py: 870] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:01:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.8ms, total=204.8ms [env.py: 1105] +05/12 01:01:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:01:47 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:01:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:01:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:01:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:01:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:01:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:01:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:01:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135712m [env.py: 870] +05/12 01:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:01:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47286534 -1.06048104 -0.13571154] yaw=-59.2deg [env.py: 1019] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=361.2ms, total=361.3ms [env.py: 1075] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -1.060, -0.136) [env.py: 1079] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/12 01:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 01:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:01:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:01:49 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 01:01:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 01:01:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:01:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:01:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:01:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:01:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.639[m] 88.175[deg] [grasp_sample.py: 539] +05/12 01:01:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:01:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:01:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:01:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:01:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:01:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:01:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:01:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:01:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 340 non-colliding grasps [grasp_sample.py: 465] +05/12 01:01:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:01:52 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.129[m] 4.555[deg] [grasp_sample.py: 539] +05/12 01:01:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:01:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:01:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:08 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:02:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:02:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:02:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 403 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.397s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:19 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.052[m] 1.875[deg] [grasp_sample.py: 539] +05/12 01:02:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:02:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:02:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:02:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:02:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.612s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:25 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.465[m] 59.934[deg] [grasp_sample.py: 539] +05/12 01:02:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:02:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:02:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:29 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:02:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:02:29 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 01:02:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:02:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:02:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.368s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:34 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.144[m] 4.420[deg] [grasp_sample.py: 539] +05/12 01:02:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:02:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:02:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:02:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:02:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:02:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:39 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.465[m] 59.937[deg] [grasp_sample.py: 539] +05/12 01:02:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:02:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:40 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:02:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160327m [env.py: 870] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=159.5ms, total=159.6ms [env.py: 1105] +05/12 01:02:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:02:42 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:02:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.543s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:42 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.118[m] 14.255[deg] [grasp_sample.py: 539] +05/12 01:02:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:02:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:02:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.75s (batch: 3.42s, save: 9.33s) [pipeline.py: 300] +05/12 01:02:42 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.98s: + episode_total: mean=32.06s, total=160.31s, count=5, min=196.5ms, max=156230.3ms + sensor_polling: mean=332.9ms, total=95.21s, count=286, min=301.9ms, max=500.6ms + save_trajectories: mean=9.33s, total=9.33s, count=1, min=9328.5ms, max=9328.5ms + physics_step: mean=21.4ms, total=6.12s, count=286, min=14.5ms, max=31.3ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3421.0ms, max=3421.0ms + task_specific_sample: mean=356.1ms, total=1.78s, count=5, min=193.8ms, max=563.1ms + task_sampling: mean=489.9ms, total=979.9ms, count=2, min=413.7ms, max=566.2ms + task_sampling_failed: mean=272.4ms, total=817.2ms, count=3, min=196.5ms, max=341.9ms + scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=0.9ms, max=2.8ms + mj_forward_sync: mean=430.0us, total=2.1ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:02:43 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:02:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138175m [env.py: 870] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5054062 -1.03970261 -0.13817474] yaw=-52.6deg [env.py: 1019] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:02:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=361.0ms, total=361.0ms [env.py: 1075] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -1.040, -0.138) [env.py: 1079] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/12 01:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:02:43 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 01:02:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:02:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179585m [env.py: 870] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119951m [env.py: 870] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.654[m] 93.038[deg] [grasp_sample.py: 539] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=275.5ms, total=275.5ms [env.py: 1105] +05/12 01:02:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:02:44 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1197518 -1.03921785 -0.11995112] yaw=-47.3deg [env.py: 1019] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:02:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=328.6ms, total=328.6ms [env.py: 1075] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.039, -0.120) [env.py: 1079] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/12 01:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:02:45 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 01:02:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:02:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:02:45 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:02:45 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=False episode_total=1.17s: + episode_total: mean=133.23s, total=133.23s, count=1, min=133226.4ms, max=133226.4ms + sensor_polling: mean=364.4ms, total=109.31s, count=300, min=315.8ms, max=564.1ms + physics_step: mean=22.3ms, total=6.68s, count=300, min=14.8ms, max=67.1ms + task_sampling: mean=1.17s, total=1.17s, count=1, min=1172.8ms, max=1172.8ms + task_specific_sample: mean=1.17s, total=1.17s, count=1, min=1169.6ms, max=1169.6ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=422.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:02:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:02:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125105m [env.py: 870] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.4ms, total=212.4ms [env.py: 1105] +05/12 01:02:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:02:46 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:02:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.286s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:02:46 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:02:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133004m [env.py: 870] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52514154 -0.94806101 -0.13300382] yaw=-61.1deg [env.py: 1019] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:02:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128651m [env.py: 870] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:02:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=678.4ms, total=678.4ms [env.py: 1075] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.948, -0.133) [env.py: 1079] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31471128 -0.89775668 -0.12865111] yaw=-61.2deg [env.py: 1019] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:02:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.3ms [env.py: 1075] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -0.898, -0.129) [env.py: 1079] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108026m [env.py: 870] +05/12 01:02:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:02:48 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 01:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 01:02:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=438.3ms, total=438.4ms [env.py: 1105] +05/12 01:02:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:02:48 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:02:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:02:48 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 01:02:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:02:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139226m [env.py: 870] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54240686 -1.03921964 -0.13922589] yaw=-65.6deg [env.py: 1019] +05/12 01:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:02:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.4ms [env.py: 1075] +05/12 01:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -1.039, -0.139) [env.py: 1079] +05/12 01:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg [env.py: 1082] +05/12 01:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 01:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.891s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:02:50 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:02:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:02:50 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 01:02:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:02:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.645s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.625[m] 90.639[deg] [grasp_sample.py: 539] +05/12 01:02:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:02:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:02:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128781m [env.py: 870] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4552342 -0.91445914 -0.1287813 ] yaw=-53.7deg [env.py: 1019] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30738254 -1.1496974 -0.1287813 ] yaw=-49.2deg [env.py: 1019] +05/12 01:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:02:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:02:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=538.7ms, total=538.7ms [env.py: 1075] +05/12 01:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.914, -0.129) [env.py: 1079] +05/12 01:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.7 deg [env.py: 1082] +05/12 01:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 01:02:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:02:52 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 01:02:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:02:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:02:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:02:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:02:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.780[m] 84.865[deg] [grasp_sample.py: 539] +05/12 01:02:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:02:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.748s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:02:54 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.684[m] 84.510[deg] [grasp_sample.py: 539] +05/12 01:02:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:02:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:02:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:02:55 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:02:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168192m [env.py: 870] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=228.2ms, total=228.3ms [env.py: 1105] +05/12 01:02:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:02:57 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:02:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125995m [env.py: 870] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.5ms, total=232.6ms [env.py: 1105] +05/12 01:02:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:02:58 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:02:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:02:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:02:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:02:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:02:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:02:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198485m [env.py: 870] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:02:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20966688 -1.06606702 -0.19848545] yaw=-53.2deg [env.py: 1019] +05/12 01:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:03:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.1ms, total=215.1ms [env.py: 1075] +05/12 01:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -1.066, -0.198) [env.py: 1079] +05/12 01:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 01:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 01:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:03:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:03:00 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 01:03:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 01:03:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:03:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:03:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:03:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:03:02 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.738[m] 89.829[deg] [grasp_sample.py: 539] +05/12 01:03:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:03:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:03:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:03:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:03:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:03:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:03:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:03:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.788s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:03:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.471[m] 63.733[deg] [grasp_sample.py: 539] +05/12 01:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:03:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:03:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:03:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:03:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:03:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:03:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:03:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:03:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.471[m] 63.736[deg] [grasp_sample.py: 539] +05/12 01:03:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:03:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:03:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:03:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:03:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:03:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:03:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:03:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.401s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:03:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.471[m] 63.736[deg] [grasp_sample.py: 539] +05/12 01:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:03:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:03:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:03:55 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:03:55 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:03:55 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=False episode_total=1.46s: + episode_total: mean=32.92s, total=131.69s, count=4, min=454.0ms, max=65949.8ms + sensor_polling: mean=342.3ms, total=72.56s, count=212, min=297.0ms, max=580.1ms + physics_step: mean=20.7ms, total=4.38s, count=212, min=13.0ms, max=38.1ms + task_specific_sample: mean=474.2ms, total=1.90s, count=4, min=436.0ms, max=539.7ms + task_sampling: mean=487.2ms, total=1.46s, count=3, min=438.5ms, max=542.7ms + task_sampling_failed: mean=453.9ms, total=453.9ms, count=1, min=453.9ms, max=453.9ms + scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=0.9ms, max=1.9ms + mj_forward_sync: mean=424.4us, total=1.7ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=12.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:03:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:03:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:03:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:03:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:03:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:03:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:03:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117987m [env.py: 870] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:03:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34876 -0.852132 -0.11798736] yaw=-45.6deg [env.py: 1019] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.68346906 -0.96690828 -0.11798736] yaw=-61.8deg [env.py: 1019] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:03:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=523.2ms, total=523.2ms [env.py: 1075] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -0.852, -0.118) [env.py: 1079] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/12 01:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:03:57 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 01:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 01:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:03:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:03:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:03:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:03:59 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:04:00 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:04:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:04:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:04:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:04:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 374 non-colliding grasps [grasp_sample.py: 465] +05/12 01:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:04:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:04:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:04:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:04:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:04:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:04:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:04:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101058m [env.py: 870] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:04:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6256763 -0.95785111 -0.10105779] yaw=-62.6deg [env.py: 1019] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:04:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.1ms [env.py: 1075] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.626, -0.958, -0.101) [env.py: 1079] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 01:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:04:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:04:01 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 01:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 01:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:04:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:04:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:04:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:04:01 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.042[m] 3.442[deg] [grasp_sample.py: 539] +05/12 01:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:04:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:04:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:04:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:04:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:04:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.142s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:04:04 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.731[m] 92.078[deg] [grasp_sample.py: 539] +05/12 01:04:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.625s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:04:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.142[m] 15.038[deg] [grasp_sample.py: 539] +05/12 01:04:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:04:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:04:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:04:05 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:04:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:04:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:04:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:04:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:04:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:04:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:04:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:04:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:04:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100235m [env.py: 870] +05/12 01:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:04:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1105] +05/12 01:04:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:04:07 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:04:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:04:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:04:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:04:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129030m [env.py: 870] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1105] +05/12 01:04:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:04:08 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:04:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:04:10 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:04:10 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:04:10 INFO: [Worker 0] Worker 0 completed house 1: 10/14 successful episodes [pipeline.py: 1323] +05/12 01:04:10 INFO: [Worker 0] [PROFILE] House 1 complete: 10/14 successful, 14 episodes, total_time=3781.27s + House averages: + episode_total: mean=30.54s, total=2198.68s, count=72, min=193.2ms, max=165606.4ms + sensor_polling: mean=340.9ms, total=1303.48s, count=3824, min=291.8ms, max=663.6ms + save_trajectories: mean=9.13s, total=91.26s, count=10, min=8294.7ms, max=11659.4ms + physics_step: mean=22.0ms, total=84.20s, count=3824, min=12.8ms, max=129.5ms + save_batch_prep: mean=3.38s, total=33.77s, count=10, min=3134.3ms, max=4005.3ms + task_specific_sample: mean=423.1ms, total=30.47s, count=72, min=190.3ms, max=982.0ms + task_sampling: mean=569.8ms, total=26.21s, count=46, min=358.5ms, max=3050.4ms + task_sampling_failed: mean=270.7ms, total=7.04s, count=26, min=193.1ms, max=756.5ms + scene_load: mean=2.56s, total=2.56s, count=1, min=2557.7ms, max=2557.7ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1585.6ms, max=1585.6ms + scene_compile: mean=833.0ms, total=833.0ms, count=1, min=833.0ms, max=833.0ms + compile_mujoco: mean=553.4ms, total=553.4ms, count=1, min=553.4ms, max=553.4ms + compile_xml_load: mean=210.5ms, total=210.5ms, count=1, min=210.5ms, max=210.5ms + scene_init: mean=96.6ms, total=96.6ms, count=1, min=96.6ms, max=96.6ms + scene_randomize: mean=1.3ms, total=93.2ms, count=72, min=0.9ms, max=3.3ms + compile_aux_objects: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + compile_aux_policy_objects: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms + mj_forward_sync: mean=429.4us, total=30.9ms, count=72, min=0.3ms, max=0.8ms + asset_install_grasps: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=14.7us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 01:04:10 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 01:04:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=3781.27s + Worker averages: + episode_total: mean=30.54s, total=2198.68s, count=72, min=193.2ms, max=165606.4ms + sensor_polling: mean=340.9ms, total=1303.48s, count=3824, min=291.8ms, max=663.6ms + save_trajectories: mean=9.13s, total=91.26s, count=10, min=8294.7ms, max=11659.4ms + physics_step: mean=22.0ms, total=84.20s, count=3824, min=12.8ms, max=129.5ms + save_batch_prep: mean=3.38s, total=33.77s, count=10, min=3134.3ms, max=4005.3ms + task_specific_sample: mean=423.1ms, total=30.47s, count=72, min=190.3ms, max=982.0ms + task_sampling: mean=569.8ms, total=26.21s, count=46, min=358.5ms, max=3050.4ms + task_sampling_failed: mean=270.7ms, total=7.04s, count=26, min=193.1ms, max=756.5ms + scene_load: mean=2.56s, total=2.56s, count=1, min=2557.7ms, max=2557.7ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1585.6ms, max=1585.6ms + scene_compile: mean=833.0ms, total=833.0ms, count=1, min=833.0ms, max=833.0ms + compile_mujoco: mean=553.4ms, total=553.4ms, count=1, min=553.4ms, max=553.4ms + compile_xml_load: mean=210.5ms, total=210.5ms, count=1, min=210.5ms, max=210.5ms + scene_init: mean=96.6ms, total=96.6ms, count=1, min=96.6ms, max=96.6ms + scene_randomize: mean=1.3ms, total=93.2ms, count=72, min=0.9ms, max=3.3ms + compile_aux_objects: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + compile_aux_policy_objects: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms + mj_forward_sync: mean=429.4us, total=30.9ms, count=72, min=0.3ms, max=0.8ms + asset_install_grasps: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=14.7us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 01:04:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:04:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:04:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:04:12 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 01:04:12 INFO: Success count: 10, Total count: 14 [pipeline.py: 1491] +05/12 01:04:12 INFO: Success rate: 71.43% [pipeline.py: 1492] +05/12 01:04:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:04:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:04:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:04:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:04:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.575s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:04:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.178[m] 8.680[deg] [grasp_sample.py: 539] +05/12 01:04:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:04:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:04:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:04:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:04:43 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:04:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:04:50 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:05:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:05:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:05:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:05:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:05:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:05:09 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 01:05:15 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:05:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:05:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:05:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.83s (batch: 2.96s, save: 9.87s) [pipeline.py: 300] +05/12 01:05:17 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.18s: + episode_total: mean=51.52s, total=206.10s, count=4, min=166.8ms, max=154090.3ms + sensor_polling: mean=336.2ms, total=120.68s, count=359, min=297.8ms, max=557.7ms + save_trajectories: mean=9.87s, total=9.87s, count=1, min=9867.9ms, max=9867.9ms + physics_step: mean=22.0ms, total=7.89s, count=359, min=12.9ms, max=62.3ms + save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2960.3ms, max=2960.3ms + task_specific_sample: mean=386.3ms, total=1.55s, count=4, min=164.1ms, max=590.9ms + task_sampling: mean=588.6ms, total=1.18s, count=2, min=583.5ms, max=593.7ms + task_sampling_failed: mean=191.8ms, total=383.7ms, count=2, min=166.8ms, max=216.9ms + scene_randomize: mean=1.0ms, total=4.1ms, count=4, min=0.9ms, max=1.2ms + mj_forward_sync: mean=379.6us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:05:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112706m [env.py: 870] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27934687 -1.13956094 -0.11270582] yaw=-37.1deg [env.py: 1019] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:05:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.9ms [env.py: 1075] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.140, -0.113) [env.py: 1079] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.1 deg [env.py: 1082] +05/12 01:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:05:18 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 01:05:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 01:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:05:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:05:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:05:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:05:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:05:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.30s (batch: 3.27s, save: 9.04s) [pipeline.py: 300] +05/12 01:05:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:05:21 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.729[m] 88.698[deg] [grasp_sample.py: 539] +05/12 01:05:22 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.86s: + episode_total: mean=37.84s, total=151.38s, count=4, min=237.2ms, max=142495.6ms + sensor_polling: mean=347.2ms, total=98.26s, count=283, min=317.0ms, max=498.1ms + save_trajectories: mean=9.04s, total=9.04s, count=1, min=9036.2ms, max=9036.2ms + physics_step: mean=21.3ms, total=6.02s, count=283, min=15.4ms, max=37.0ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3266.4ms, max=3266.4ms + task_specific_sample: mean=581.8ms, total=2.33s, count=4, min=233.2ms, max=1420.4ms + task_sampling: mean=930.7ms, total=1.86s, count=2, min=438.1ms, max=1423.2ms + task_sampling_failed: mean=238.9ms, total=477.7ms, count=2, min=237.2ms, max=240.5ms + scene_randomize: mean=1.0ms, total=4.2ms, count=4, min=1.0ms, max=1.2ms + mj_forward_sync: mean=411.0us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:05:22 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:05:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177485m [env.py: 870] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30214692 -1.01776488 -0.17748483] yaw=-46.2deg [env.py: 1019] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:05:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.2ms, total=269.2ms [env.py: 1075] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.018, -0.177) [env.py: 1079] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112523m [env.py: 870] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39348627 -1.13383753 -0.11252344] yaw=-54.4deg [env.py: 1019] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:05:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:05:24 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:05:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.7ms [env.py: 1075] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -1.134, -0.113) [env.py: 1079] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 01:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 01:05:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:05:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:05:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:05:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:05:24 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 01:05:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 01:05:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:05:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:05:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:05:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.004s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:05:27 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.719[m] 76.258[deg] [grasp_sample.py: 539] +05/12 01:05:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.222s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:05:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.693[m] 89.787[deg] [grasp_sample.py: 539] +05/12 01:05:28 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:05:28 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:05:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193417m [env.py: 870] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36607464 -1.12865372 -0.19341697] yaw=-56.4deg [env.py: 1019] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:05:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.9ms [env.py: 1075] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.129, -0.193) [env.py: 1079] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 01:05:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:05:30 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 01:05:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194746m [env.py: 870] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 01:05:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:05:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:05:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1105] +05/12 01:05:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:05:30 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156213m [env.py: 870] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35142697 -1.16312381 -0.15621329] yaw=-49.1deg [env.py: 1019] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:05:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.4ms [env.py: 1075] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -1.163, -0.156) [env.py: 1079] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 01:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:05:32 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 01:05:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:05:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:05:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:05:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:05:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.637[m] 92.296[deg] [grasp_sample.py: 539] +05/12 01:05:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:05:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:05:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:05:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:05:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:05:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.664s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:05:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.577[m] 91.815[deg] [grasp_sample.py: 539] +05/12 01:05:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:05:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:05:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:05:35 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:05:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:05:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:05:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:05:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:05:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.95s (batch: 3.81s, save: 12.14s) [pipeline.py: 300] +05/12 01:05:52 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=1.25s: + episode_total: mean=46.00s, total=184.00s, count=4, min=222.1ms, max=180923.4ms + sensor_polling: mean=341.8ms, total=102.54s, count=300, min=294.1ms, max=587.3ms + save_trajectories: mean=12.14s, total=12.14s, count=1, min=12139.3ms, max=12139.3ms + physics_step: mean=21.4ms, total=6.41s, count=300, min=14.9ms, max=33.0ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3811.5ms, max=3811.5ms + task_specific_sample: mean=436.7ms, total=1.75s, count=4, min=218.6ms, max=764.1ms + task_sampling: mean=625.7ms, total=1.25s, count=2, min=484.8ms, max=766.6ms + task_sampling_failed: mean=254.7ms, total=509.4ms, count=2, min=222.1ms, max=287.3ms + scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.0ms, max=3.2ms + mj_forward_sync: mean=529.7us, total=2.1ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:05:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102939m [env.py: 870] +05/12 01:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=306.0ms, total=306.1ms [env.py: 1105] +05/12 01:05:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:05:54 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:05:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130803m [env.py: 870] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58076155 -0.71990088 -0.130803 ] yaw=-67.3deg [env.py: 1019] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.12946416 -1.01481715 -0.130803 ] yaw=-41.7deg [env.py: 1019] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49761548 -0.92386802 -0.130803 ] yaw=-51.4deg [env.py: 1019] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:05:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.4ms, total=185.4ms [env.py: 1075] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.720, -0.131) [env.py: 1079] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 01:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:05:55 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 01:05:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 01:05:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:05:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:05:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:05:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.544s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:05:57 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:05:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:05:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:05:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:05:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:05:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:05:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:05:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116794m [env.py: 870] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:05:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48604222 -1.01115267 -0.11679422] yaw=-53.4deg [env.py: 1019] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18785034 -1.02622987 -0.11679422] yaw=-44.6deg [env.py: 1019] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:05:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:05:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=204.7ms, total=204.8ms [env.py: 1075] +05/12 01:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -1.011, -0.117) [env.py: 1079] +05/12 01:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 01:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 01:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:05:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:05:59 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 01:05:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:05:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:05:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:05:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:06:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.455s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:06:01 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.702[m] 87.077[deg] [grasp_sample.py: 539] +05/12 01:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:06:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:06:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:06:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:06:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:06:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:06:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:06:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:06:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:06:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/12 01:06:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.373s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:06:34 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.119[m] 5.192[deg] [grasp_sample.py: 539] +05/12 01:06:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:06:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:06:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:06:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:06:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:51 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:06:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:06:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:06:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:06:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/12 01:06:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.409s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:06:52 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.119[m] 4.850[deg] [grasp_sample.py: 539] +05/12 01:06:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:06:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:06:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:06:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:06:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:01 INFO: [Worker 0] Object is not in grasp! 0.00171 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:07:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:07:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:07:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 412 non-colliding grasps [grasp_sample.py: 465] +05/12 01:07:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.290s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:07:01 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.051[m] 1.790[deg] [grasp_sample.py: 539] +05/12 01:07:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:07:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:07:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:07:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:07:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:20 INFO: [Worker 0] Object is not in grasp! 0.00199 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:07:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:07:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:07:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:07:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 389 non-colliding grasps [grasp_sample.py: 465] +05/12 01:07:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.292s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:07:20 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.588[deg] [grasp_sample.py: 539] +05/12 01:07:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:07:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:07:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:29 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:07:29 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=False episode_total=1.29s: + episode_total: mean=31.89s, total=127.56s, count=4, min=212.6ms, max=118168.0ms + sensor_polling: mean=331.3ms, total=99.40s, count=300, min=298.4ms, max=503.2ms + physics_step: mean=21.9ms, total=6.58s, count=300, min=14.6ms, max=31.1ms + task_specific_sample: mean=372.4ms, total=1.49s, count=4, min=209.0ms, max=446.4ms + task_sampling: mean=429.7ms, total=1.29s, count=3, min=418.5ms, max=449.8ms + task_sampling_failed: mean=212.6ms, total=212.6ms, count=1, min=212.6ms, max=212.6ms + scene_randomize: mean=1.3ms, total=5.4ms, count=4, min=1.0ms, max=2.2ms + mj_forward_sync: mean=402.7us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:07:30 INFO: [Worker 0] Object is not in grasp! 0.00177 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:07:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:07:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:07:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 406 non-colliding grasps [grasp_sample.py: 465] +05/12 01:07:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.298s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:07:30 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.051[m] 1.732[deg] [grasp_sample.py: 539] +05/12 01:07:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:07:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:07:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:07:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:07:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:07:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:07:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:07:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:07:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184453m [env.py: 870] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:07:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45068462 -0.84777726 -0.18445337] yaw=-51.2deg [env.py: 1019] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.65932076 -0.94264442 -0.18445337] yaw=-59.4deg [env.py: 1019] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:07:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.1ms [env.py: 1075] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.848, -0.184) [env.py: 1079] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 01:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:07:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:07:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:07:31 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 01:07:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:07:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:07:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:07:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:07:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:38 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:07:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:07:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:52 INFO: [Worker 0] Object is not in grasp! 0.00108 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:07:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:07:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:07:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:07:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 399 non-colliding grasps [grasp_sample.py: 465] +05/12 01:07:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.981s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:07:52 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.762[m] 95.716[deg] [grasp_sample.py: 539] +05/12 01:07:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.446s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:07:52 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.136[m] 3.765[deg] [grasp_sample.py: 539] +05/12 01:07:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:07:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:07:56 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:07:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:07:56 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 01:07:57 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:07:57 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=False episode_total=0.98s: + episode_total: mean=76.25s, total=152.49s, count=2, min=4800.9ms, max=147689.5ms + sensor_polling: mean=417.4ms, total=125.21s, count=300, min=315.8ms, max=597.4ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=19.2ms, max=33.9ms + task_sampling: mean=488.3ms, total=976.6ms, count=2, min=396.6ms, max=580.0ms + task_specific_sample: mean=485.0ms, total=970.1ms, count=2, min=394.1ms, max=576.0ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=417.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:07:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:07:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:07:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:07:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:07:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:07:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:07:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124293m [env.py: 870] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:07:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62976421 -0.81547289 -0.12429297] yaw=-81.4deg [env.py: 1019] +05/12 01:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.6ms, total=217.6ms [env.py: 1075] +05/12 01:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.630, -0.815, -0.124) [env.py: 1079] +05/12 01:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.4 deg [env.py: 1082] +05/12 01:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 01:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:07:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:07:59 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 01:07:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:07:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:07:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:07:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:08:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.184s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:08:01 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.772[m] 92.488[deg] [grasp_sample.py: 539] +05/12 01:08:02 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:08:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:08:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:08:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:08:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:08:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:08:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:08:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192668m [env.py: 870] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:08:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.8ms, total=199.8ms [env.py: 1105] +05/12 01:08:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:08:04 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:08:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:08:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:08:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:08:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:08:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:08:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:08:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147610m [env.py: 870] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:08:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52332534 -0.76363812 -0.1476101 ] yaw=-68.3deg [env.py: 1019] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26338492 -1.16134794 -0.1476101 ] yaw=-44.3deg [env.py: 1019] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:08:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1075] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.764, -0.148) [env.py: 1079] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 01:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:08:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:08:05 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 01:08:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 01:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:08:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:08:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:08:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.094s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:08:08 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:08:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:08:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:08:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.33s (batch: 3.32s, save: 9.01s) [pipeline.py: 300] +05/12 01:08:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:08:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:08:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:08:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:08:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:08:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:08:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154288m [env.py: 870] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:08:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36773333 -0.81947067 -0.15428849] yaw=-56.4deg [env.py: 1019] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:08:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.5ms, total=206.5ms [env.py: 1075] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -0.819, -0.154) [env.py: 1079] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 01:08:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:08:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:08:09 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 01:08:09 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.84s: + episode_total: mean=44.45s, total=133.34s, count=3, min=318.6ms, max=130860.0ms + sensor_polling: mean=321.4ms, total=88.39s, count=275, min=300.0ms, max=472.2ms + save_trajectories: mean=9.01s, total=9.01s, count=1, min=9010.3ms, max=9010.3ms + physics_step: mean=20.7ms, total=5.70s, count=275, min=14.7ms, max=28.2ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3317.6ms, max=3317.6ms + task_specific_sample: mean=381.6ms, total=1.14s, count=3, min=313.5ms, max=422.5ms + task_sampling: mean=418.1ms, total=836.3ms, count=2, min=410.9ms, max=425.3ms + task_sampling_failed: mean=318.6ms, total=318.6ms, count=1, min=318.6ms, max=318.6ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=0.9ms, max=2.8ms + mj_forward_sync: mean=463.0us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:08:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 01:08:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:08:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:08:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:08:11 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:08:11 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:08:11 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes [pipeline.py: 1323] +05/12 01:08:11 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=4193.42s + House averages: + episode_total: mean=33.90s, total=2441.15s, count=72, min=186.6ms, max=187280.2ms + sensor_polling: mean=345.3ms, total=1421.26s, count=4116, min=287.2ms, max=739.0ms + save_trajectories: mean=9.58s, total=124.60s, count=13, min=8538.6ms, max=12139.3ms + physics_step: mean=22.2ms, total=91.36s, count=4116, min=13.1ms, max=104.8ms + save_batch_prep: mean=3.49s, total=45.33s, count=13, min=2869.9ms, max=4005.9ms + task_specific_sample: mean=421.2ms, total=30.32s, count=72, min=183.1ms, max=938.5ms + task_sampling: mean=551.3ms, total=26.46s, count=48, min=297.6ms, max=3086.3ms + task_sampling_failed: mean=279.4ms, total=6.70s, count=24, min=186.6ms, max=712.5ms + scene_load: mean=2.60s, total=2.60s, count=1, min=2602.1ms, max=2602.1ms + scene_env_create: mean=1.64s, total=1.64s, count=1, min=1639.9ms, max=1639.9ms + scene_compile: mean=821.9ms, total=821.9ms, count=1, min=821.9ms, max=821.9ms + compile_mujoco: mean=540.3ms, total=540.3ms, count=1, min=540.3ms, max=540.3ms + compile_xml_load: mean=216.6ms, total=216.6ms, count=1, min=216.6ms, max=216.6ms + scene_init: mean=96.0ms, total=96.0ms, count=1, min=96.0ms, max=96.0ms + scene_randomize: mean=1.3ms, total=92.4ms, count=72, min=0.9ms, max=3.2ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms + asset_install_grasps: mean=30.2ms, total=30.2ms, count=1, min=30.2ms, max=30.2ms + mj_forward_sync: mean=417.9us, total=30.1ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=15.9us, total=0.8ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 01:08:11 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 01:08:11 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4193.42s + Worker averages: + episode_total: mean=33.90s, total=2441.15s, count=72, min=186.6ms, max=187280.2ms + sensor_polling: mean=345.3ms, total=1421.26s, count=4116, min=287.2ms, max=739.0ms + save_trajectories: mean=9.58s, total=124.60s, count=13, min=8538.6ms, max=12139.3ms + physics_step: mean=22.2ms, total=91.36s, count=4116, min=13.1ms, max=104.8ms + save_batch_prep: mean=3.49s, total=45.33s, count=13, min=2869.9ms, max=4005.9ms + task_specific_sample: mean=421.2ms, total=30.32s, count=72, min=183.1ms, max=938.5ms + task_sampling: mean=551.3ms, total=26.46s, count=48, min=297.6ms, max=3086.3ms + task_sampling_failed: mean=279.4ms, total=6.70s, count=24, min=186.6ms, max=712.5ms + scene_load: mean=2.60s, total=2.60s, count=1, min=2602.1ms, max=2602.1ms + scene_env_create: mean=1.64s, total=1.64s, count=1, min=1639.9ms, max=1639.9ms + scene_compile: mean=821.9ms, total=821.9ms, count=1, min=821.9ms, max=821.9ms + compile_mujoco: mean=540.3ms, total=540.3ms, count=1, min=540.3ms, max=540.3ms + compile_xml_load: mean=216.6ms, total=216.6ms, count=1, min=216.6ms, max=216.6ms + scene_init: mean=96.0ms, total=96.0ms, count=1, min=96.0ms, max=96.0ms + scene_randomize: mean=1.3ms, total=92.4ms, count=72, min=0.9ms, max=3.2ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + scene_asset_install: mean=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms + asset_install_grasps: mean=30.2ms, total=30.2ms, count=1, min=30.2ms, max=30.2ms + mj_forward_sync: mean=417.9us, total=30.1ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=15.9us, total=0.8ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 01:08:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.923s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:08:11 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:08:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:08:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:08:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:08:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:08:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:08:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:08:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185553m [env.py: 870] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:08:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63335747 -0.8995303 -0.18555324] yaw=-78.9deg [env.py: 1019] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41307932 -1.08217947 -0.18555324] yaw=-44.4deg [env.py: 1019] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36401239 -1.14306789 -0.18555324] yaw=-46.9deg [env.py: 1019] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:08:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.0ms [env.py: 1075] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.900, -0.186) [env.py: 1079] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.9 deg [env.py: 1082] +05/12 01:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:08:13 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 01:08:13 INFO: Success count: 13, Total count: 15 [pipeline.py: 1491] +05/12 01:08:13 INFO: Success rate: 86.67% [pipeline.py: 1492] +05/12 01:08:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:08:13 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 01:08:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:08:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:08:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:08:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:08:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.325s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:08:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.627[m] 88.431[deg] [grasp_sample.py: 539] +05/12 01:08:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:08:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:08:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:08:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:08:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:08:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:08:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:08:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.826s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:08:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.485[m] 63.831[deg] [grasp_sample.py: 539] +05/12 01:08:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:08:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:08:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:08:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:08:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:08:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:08:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:08:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:08:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.408s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:08:54 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.485[m] 63.831[deg] [grasp_sample.py: 539] +05/12 01:08:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:08:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:08:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.097s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:09:03 INFO: [Worker 0] Feasible grasp found 285 (originally 285): w/ 0.126[m] 10.720[deg] [grasp_sample.py: 539] +05/12 01:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:04 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:09:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:09:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:09:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:09:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:09:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:09:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172423m [env.py: 870] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44419687 -0.93082778 -0.17242336] yaw=-63.6deg [env.py: 1019] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60972127 -0.85184657 -0.17242336] yaw=-60.1deg [env.py: 1019] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34686643 -1.0114927 -0.17242336] yaw=-54.1deg [env.py: 1019] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=453.0ms, total=453.0ms [env.py: 1075] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.444, -0.931, -0.172) [env.py: 1079] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg [env.py: 1082] +05/12 01:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:09:06 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 01:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 01:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:09:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:09:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:09:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.285s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:09:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.485[m] 63.831[deg] [grasp_sample.py: 539] +05/12 01:09:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:09:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:09:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.663s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:09:09 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.752[m] 89.489[deg] [grasp_sample.py: 539] +05/12 01:09:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:09:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:09:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:09:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:09:18 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:09:18 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=False episode_total=1.77s: + episode_total: mean=15.04s, total=75.20s, count=5, min=209.3ms, max=65997.3ms + sensor_polling: mean=324.8ms, total=22.74s, count=70, min=312.2ms, max=354.8ms + task_specific_sample: mean=393.9ms, total=1.97s, count=5, min=204.5ms, max=501.1ms + task_sampling: mean=443.5ms, total=1.77s, count=4, min=412.4ms, max=503.4ms + physics_step: mean=17.5ms, total=1.22s, count=70, min=12.7ms, max=20.9ms + task_sampling_failed: mean=209.3ms, total=209.3ms, count=1, min=209.3ms, max=209.3ms + scene_randomize: mean=1.1ms, total=5.3ms, count=5, min=1.0ms, max=1.2ms + mj_forward_sync: mean=425.8us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:09:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:09:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:09:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:09:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:09:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:09:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145121m [env.py: 870] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:09:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14266811 -1.06341695 -0.14512107] yaw=-38.9deg [env.py: 1019] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45825518 -1.04620543 -0.14512107] yaw=-56.4deg [env.py: 1019] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26046363 -1.03307474 -0.14512107] yaw=-51.8deg [env.py: 1019] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:09:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.7ms, total=153.7ms [env.py: 1075] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.063, -0.145) [env.py: 1079] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg [env.py: 1082] +05/12 01:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:09:20 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 01:09:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:09:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:09:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:09:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:09:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.274s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:09:22 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:09:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:09:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188053m [env.py: 870] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.4ms, total=163.5ms [env.py: 1105] +05/12 01:09:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:09:23 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:09:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:09:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:09:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:09:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:09:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:09:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131318m [env.py: 870] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:09:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.2ms, total=158.2ms [env.py: 1105] +05/12 01:09:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:09:24 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:09:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:09:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:09:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:09:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:09:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:09:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158615m [env.py: 870] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:09:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.2ms, total=158.2ms [env.py: 1105] +05/12 01:09:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:09:26 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:09:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:09:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:09:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:09:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:09:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:09:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:09:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176502m [env.py: 870] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:09:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.2ms, total=198.2ms [env.py: 1105] +05/12 01:09:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:09:27 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:09:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:09:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:09:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:09:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187402m [env.py: 870] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4197745 -1.13097391 -0.18740173] yaw=-48.7deg [env.py: 1019] +05/12 01:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:09:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.7ms [env.py: 1075] +05/12 01:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -1.131, -0.187) [env.py: 1079] +05/12 01:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg [env.py: 1082] +05/12 01:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 01:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:09:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:09:29 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 01:09:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 01:09:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:09:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:09:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:09:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.793s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:09:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.609[m] 88.157[deg] [grasp_sample.py: 539] +05/12 01:09:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:09:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:09:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:09:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:10:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:10:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:10:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:10:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:10:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:10:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:10:53 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:11:05 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:11:13 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:11:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:11:13 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 01:11:22 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:11:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:11:22 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 01:11:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:11:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:11:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.02s (batch: 3.52s, save: 8.51s) [pipeline.py: 300] +05/12 01:11:25 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=1.10s: + episode_total: mean=116.58s, total=233.17s, count=2, min=93698.0ms, max=139468.3ms + sensor_polling: mean=319.5ms, total=137.38s, count=430, min=262.6ms, max=501.7ms + physics_step: mean=21.0ms, total=9.04s, count=430, min=14.5ms, max=33.8ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8506.5ms, max=8506.5ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3515.5ms, max=3515.5ms + task_sampling: mean=549.1ms, total=1.10s, count=2, min=422.6ms, max=675.6ms + task_specific_sample: mean=546.0ms, total=1.09s, count=2, min=420.3ms, max=671.6ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.3ms, max=1.6ms + mj_forward_sync: mean=379.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:11:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:11:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:11:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:11:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:11:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:11:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145113m [env.py: 870] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:11:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37832235 -0.82065762 -0.14511334] yaw=-68.5deg [env.py: 1019] +05/12 01:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:11:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.4ms [env.py: 1075] +05/12 01:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -0.821, -0.145) [env.py: 1079] +05/12 01:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 01:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 01:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:11:27 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 01:11:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 01:11:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:11:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:11:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:11:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.839s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:11:29 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:11:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:11:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:11:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:11:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:11:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:11:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175685m [env.py: 870] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:11:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25120428 -1.09051585 -0.17568528] yaw=-37.6deg [env.py: 1019] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:11:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=156.8ms, total=156.8ms [env.py: 1075] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.091, -0.176) [env.py: 1079] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg [env.py: 1082] +05/12 01:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:11:30 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 01:11:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:11:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:11:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:11:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:11:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:11:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.63s (batch: 3.08s, save: 8.55s) [pipeline.py: 300] +05/12 01:11:34 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=0.79s: + episode_total: mean=21.39s, total=128.36s, count=6, min=165.4ms, max=125850.3ms + sensor_polling: mean=333.0ms, total=85.92s, count=258, min=310.5ms, max=480.9ms + save_trajectories: mean=8.55s, total=8.55s, count=1, min=8550.0ms, max=8550.0ms + physics_step: mean=21.1ms, total=5.44s, count=258, min=14.5ms, max=34.5ms + save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3079.8ms, max=3079.8ms + task_specific_sample: mean=246.7ms, total=1.48s, count=6, min=162.9ms, max=407.7ms + task_sampling: mean=393.3ms, total=786.6ms, count=2, min=376.7ms, max=409.9ms + task_sampling_failed: mean=177.7ms, total=710.9ms, count=4, min=165.4ms, max=206.6ms + scene_randomize: mean=1.2ms, total=7.3ms, count=6, min=1.0ms, max=1.6ms + mj_forward_sync: mean=418.7us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:11:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112725m [env.py: 870] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.66185676 -0.96222601 -0.11272489] yaw=-78.4deg [env.py: 1019] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:11:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=249.9ms, total=250.0ms [env.py: 1075] +05/12 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.662, -0.962, -0.113) [env.py: 1079] +05/12 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.4 deg [env.py: 1082] +05/12 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.172s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:11:36 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.755[m] 85.026[deg] [grasp_sample.py: 539] +05/12 01:11:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:11:36 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 01:11:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 01:11:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:11:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:11:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:11:37 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:11:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.166s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:11:37 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.662[m] 86.932[deg] [grasp_sample.py: 539] +05/12 01:11:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:11:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:11:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:11:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:11:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:11:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:11:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187008m [env.py: 870] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:11:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=361.7ms, total=361.8ms [env.py: 1105] +05/12 01:11:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:11:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:11:38 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:11:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:11:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:11:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:11:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:11:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:11:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:11:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:11:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182916m [env.py: 870] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:11:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47974233 -1.00486819 -0.18291599] yaw=-54.2deg [env.py: 1019] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:11:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=350.2ms, total=350.3ms [env.py: 1075] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -1.005, -0.183) [env.py: 1079] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 01:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:11:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:11:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:11:40 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 01:11:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 01:11:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:11:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:11:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:11:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.162s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:11:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.668[m] 94.613[deg] [grasp_sample.py: 539] +05/12 01:11:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:11:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:11:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:11:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:12:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:12:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:12:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:12:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:12:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.972s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:12:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.531[m] 66.194[deg] [grasp_sample.py: 539] +05/12 01:12:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:12:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:12:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:12:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:12:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:12:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:12:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:12:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.842s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:12:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.526[m] 65.508[deg] [grasp_sample.py: 539] +05/12 01:12:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:12:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:12:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:12:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:12:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:12:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:12:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.050s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:12:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.526[m] 65.510[deg] [grasp_sample.py: 539] +05/12 01:12:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:12:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:12:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:12:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:12:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:12:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:12:45 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:12:45 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=False episode_total=0.51s: + episode_total: mean=69.53s, total=69.53s, count=1, min=69528.4ms, max=69528.4ms + sensor_polling: mean=339.4ms, total=23.08s, count=68, min=317.2ms, max=457.2ms + physics_step: mean=17.7ms, total=1.20s, count=68, min=12.6ms, max=24.6ms + task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms + task_specific_sample: mean=507.3ms, total=507.3ms, count=1, min=507.3ms, max=507.3ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=412.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:12:46 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:12:46 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:12:46 INFO: [Worker 0] Worker 0 completed house 1: 12/18 successful episodes [pipeline.py: 1323] +05/12 01:12:46 INFO: [Worker 0] [PROFILE] House 1 complete: 12/18 successful, 18 episodes, total_time=4779.16s + House averages: + episode_total: mean=37.76s, total=2718.58s, count=72, min=165.4ms, max=172195.0ms + sensor_polling: mean=373.8ms, total=1733.87s, count=4639, min=290.5ms, max=693.5ms + save_trajectories: mean=9.28s, total=111.35s, count=12, min=8080.8ms, max=11136.6ms + physics_step: mean=22.4ms, total=103.99s, count=4639, min=12.6ms, max=126.0ms + save_batch_prep: mean=3.42s, total=41.04s, count=12, min=3079.8ms, max=3982.6ms + task_specific_sample: mean=413.9ms, total=29.80s, count=72, min=162.9ms, max=1420.4ms + task_sampling: mean=576.1ms, total=27.08s, count=47, min=303.3ms, max=3486.0ms + task_sampling_failed: mean=239.7ms, total=5.99s, count=25, min=165.4ms, max=422.7ms + scene_load: mean=3.04s, total=3.04s, count=1, min=3035.8ms, max=3035.8ms + scene_env_create: mean=1.71s, total=1.71s, count=1, min=1708.8ms, max=1708.8ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1184.9ms, max=1184.9ms + compile_mujoco: mean=581.3ms, total=581.3ms, count=1, min=581.3ms, max=581.3ms + compile_xml_load: mean=524.7ms, total=524.7ms, count=1, min=524.7ms, max=524.7ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + scene_randomize: mean=1.3ms, total=95.7ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + compile_aux_policy_objects: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + scene_asset_install: mean=43.7ms, total=43.7ms, count=1, min=43.7ms, max=43.7ms + mj_forward_sync: mean=443.6us, total=31.9ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=21.4ms, total=21.4ms, count=1, min=21.4ms, max=21.4ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=16.1us, total=0.8ms, count=47, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 01:12:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 01:12:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=4779.16s + Worker averages: + episode_total: mean=37.76s, total=2718.58s, count=72, min=165.4ms, max=172195.0ms + sensor_polling: mean=373.8ms, total=1733.87s, count=4639, min=290.5ms, max=693.5ms + save_trajectories: mean=9.28s, total=111.35s, count=12, min=8080.8ms, max=11136.6ms + physics_step: mean=22.4ms, total=103.99s, count=4639, min=12.6ms, max=126.0ms + save_batch_prep: mean=3.42s, total=41.04s, count=12, min=3079.8ms, max=3982.6ms + task_specific_sample: mean=413.9ms, total=29.80s, count=72, min=162.9ms, max=1420.4ms + task_sampling: mean=576.1ms, total=27.08s, count=47, min=303.3ms, max=3486.0ms + task_sampling_failed: mean=239.7ms, total=5.99s, count=25, min=165.4ms, max=422.7ms + scene_load: mean=3.04s, total=3.04s, count=1, min=3035.8ms, max=3035.8ms + scene_env_create: mean=1.71s, total=1.71s, count=1, min=1708.8ms, max=1708.8ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1184.9ms, max=1184.9ms + compile_mujoco: mean=581.3ms, total=581.3ms, count=1, min=581.3ms, max=581.3ms + compile_xml_load: mean=524.7ms, total=524.7ms, count=1, min=524.7ms, max=524.7ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + scene_randomize: mean=1.3ms, total=95.7ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + compile_aux_policy_objects: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + scene_asset_install: mean=43.7ms, total=43.7ms, count=1, min=43.7ms, max=43.7ms + mj_forward_sync: mean=443.6us, total=31.9ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=21.4ms, total=21.4ms, count=1, min=21.4ms, max=21.4ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=16.1us, total=0.8ms, count=47, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 01:12:48 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 01:12:48 INFO: Success count: 12, Total count: 18 [pipeline.py: 1491] +05/12 01:12:48 INFO: Success rate: 66.67% [pipeline.py: 1492] +05/12 01:12:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:12:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:13:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:13:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:13:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:13:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:13:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 01:13:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.062s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:13:06 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.040[m] 3.434[deg] [grasp_sample.py: 539] +05/12 01:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:13:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:13:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:13:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:13:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:13:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:13:41 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:14:01 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:14:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:14:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:14:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:14:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:14:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.86s (batch: 3.39s, save: 9.47s) [pipeline.py: 300] +05/12 01:14:15 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.36s: + episode_total: mean=41.14s, total=164.56s, count=4, min=374.9ms, max=154947.5ms + sensor_polling: mean=326.1ms, total=97.83s, count=300, min=288.2ms, max=530.6ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9473.6ms, max=9473.6ms + physics_step: mean=21.9ms, total=6.57s, count=300, min=15.1ms, max=30.5ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3385.5ms, max=3385.5ms + task_specific_sample: mean=430.9ms, total=1.72s, count=4, min=325.6ms, max=570.9ms + task_sampling: mean=454.6ms, total=1.36s, count=3, min=328.0ms, max=573.0ms + task_sampling_failed: mean=374.9ms, total=374.9ms, count=1, min=374.9ms, max=374.9ms + scene_randomize: mean=1.3ms, total=5.4ms, count=4, min=0.9ms, max=1.8ms + mj_forward_sync: mean=405.5us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:14:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:14:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:14:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:14:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:14:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:14:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:14:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145461m [env.py: 870] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:14:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53569212 -0.84152081 -0.14546102] yaw=-63.6deg [env.py: 1019] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34246048 -1.0438397 -0.14546102] yaw=-44.6deg [env.py: 1019] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:14:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.5ms, total=172.5ms [env.py: 1075] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.842, -0.145) [env.py: 1079] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg [env.py: 1082] +05/12 01:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:14:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:14:16 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 01:14:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 01:14:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:14:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:14:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:14:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.224s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:14:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.724[m] 89.209[deg] [grasp_sample.py: 539] +05/12 01:14:21 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:14:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:14:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:14:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:14:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:14:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:14:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:14:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167180m [env.py: 870] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:14:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5894538 -0.94050093 -0.16717956] yaw=-66.2deg [env.py: 1019] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52474868 -0.99156499 -0.16717956] yaw=-61.4deg [env.py: 1019] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2841276 -0.95240841 -0.16717956] yaw=-53.6deg [env.py: 1019] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:14:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.6ms [env.py: 1075] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.941, -0.167) [env.py: 1079] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 01:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:14:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:14:22 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 01:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 01:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:14:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:14:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:14:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.184s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:14:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.621[m] 86.737[deg] [grasp_sample.py: 539] +05/12 01:14:25 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:14:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:14:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:14:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:14:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:14:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:14:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:14:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144872m [env.py: 870] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:14:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=155.2ms, total=155.2ms [env.py: 1105] +05/12 01:14:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:14:27 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:14:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:14:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:14:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:14:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:14:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:14:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:14:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111520m [env.py: 870] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:14:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27502356 -1.08379787 -0.1115203 ] yaw=-52.6deg [env.py: 1019] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:14:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.5ms, total=160.5ms [env.py: 1075] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.084, -0.112) [env.py: 1079] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/12 01:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:14:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:14:28 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 01:14:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:14:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:14:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:14:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:14:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.225s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:14:33 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.741[m] 92.353[deg] [grasp_sample.py: 539] +05/12 01:14:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:14:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:14:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:14:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:15:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:15:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:15:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:16:09 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:16:29 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_005 [pipeline.py: 1174] +05/12 01:16:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:16:29 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 01:16:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:16:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_005 [save_utils.py: 785] +05/12 01:16:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.80s (batch: 3.18s, save: 8.62s) [pipeline.py: 300] +05/12 01:16:41 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=1.03s: + episode_total: mean=35.54s, total=142.15s, count=4, min=163.4ms, max=133471.8ms + sensor_polling: mean=310.8ms, total=87.96s, count=283, min=290.2ms, max=506.6ms + save_trajectories: mean=8.62s, total=8.62s, count=1, min=8622.0ms, max=8622.0ms + physics_step: mean=20.6ms, total=5.83s, count=283, min=14.4ms, max=24.8ms + save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3177.0ms, max=3177.0ms + task_specific_sample: mean=296.3ms, total=1.19s, count=4, min=159.7ms, max=382.2ms + task_sampling: mean=344.4ms, total=1.03s, count=3, min=321.8ms, max=385.1ms + task_sampling_failed: mean=163.4ms, total=163.4ms, count=1, min=163.4ms, max=163.4ms + scene_randomize: mean=1.2ms, total=4.7ms, count=4, min=1.0ms, max=1.8ms + mj_forward_sync: mean=371.3us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:16:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:16:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:16:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:16:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:16:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:16:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147250m [env.py: 870] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:16:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58164841 -0.7403367 -0.14724971] yaw=-64.4deg [env.py: 1019] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:16:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.6ms, total=174.7ms [env.py: 1075] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.740, -0.147) [env.py: 1079] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/12 01:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:16:43 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 01:16:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 01:16:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:16:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:16:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:16:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.038s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:16:45 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:16:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:16:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:16:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:16:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101021m [env.py: 870] +05/12 01:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13804332 -1.04225844 -0.10102064] yaw=-38.2deg [env.py: 1019] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:16:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.3ms [env.py: 1075] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -1.042, -0.101) [env.py: 1079] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/12 01:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 01:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:16:47 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 01:16:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 01:16:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:16:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:16:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:16:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.044s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:16:49 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:16:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:16:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:16:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:16:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:16:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:16:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105533m [env.py: 870] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:16:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33377386 -1.16026039 -0.10553309] yaw=-46.3deg [env.py: 1019] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:16:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.1ms [env.py: 1075] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -1.160, -0.106) [env.py: 1079] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 01:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:16:51 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 01:16:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 01:16:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:16:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:16:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:16:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:16:52 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.689[m] 85.308[deg] [grasp_sample.py: 539] +05/12 01:16:53 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:16:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:16:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:16:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:16:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:16:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:16:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:16:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167708m [env.py: 870] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:16:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.7ms, total=192.8ms [env.py: 1105] +05/12 01:16:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:16:55 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:16:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:16:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:16:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:16:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:16:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:16:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100838m [env.py: 870] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:16:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41559066 -1.08363794 -0.10083751] yaw=-46.4deg [env.py: 1019] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:16:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.7ms [env.py: 1075] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.416, -1.084, -0.101) [env.py: 1079] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg [env.py: 1082] +05/12 01:16:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:16:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:16:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:16:56 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 01:16:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:16:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:16:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:16:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:16:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.219s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:16:59 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.691[m] 90.376[deg] [grasp_sample.py: 539] +05/12 01:17:00 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:17:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:17:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:17:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:17:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:17:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:17:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143559m [env.py: 870] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:17:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1338861 -1.0283169 -0.14355889] yaw=-39.7deg [env.py: 1019] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:17:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=193.6ms, total=193.6ms [env.py: 1075] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.134, -1.028, -0.144) [env.py: 1079] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg [env.py: 1082] +05/12 01:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:17:01 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 01:17:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:17:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:17:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:17:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:17:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.048s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:17:03 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:17:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:17:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:17:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:17:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:17:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:17:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125115m [env.py: 870] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:17:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15820052 -1.07306076 -0.12511479] yaw=-31.4deg [env.py: 1019] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:17:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.5ms [env.py: 1075] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -1.073, -0.125) [env.py: 1079] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.4 deg [env.py: 1082] +05/12 01:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:17:05 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 01:17:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:17:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:17:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:17:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:17:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.065s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:17:07 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:17:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:17:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:17:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:17:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:17:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:17:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151325m [env.py: 870] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:17:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15896362 -1.07358735 -0.15132453] yaw=-40.7deg [env.py: 1019] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56205349 -1.02588852 -0.15132453] yaw=-71.3deg [env.py: 1019] +05/12 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:17:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.4ms [env.py: 1075] +05/12 01:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.074, -0.151) [env.py: 1079] +05/12 01:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 01:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 01:17:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:17:09 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 01:17:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:17:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:17:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:17:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:17:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.045s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:17:11 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:17:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:17:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:17:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:17:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:17:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:17:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:17:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109710m [env.py: 870] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:17:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.2ms, total=187.2ms [env.py: 1105] +05/12 01:17:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:17:12 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:17:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:17:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:17:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:17:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:17:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:17:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109384m [env.py: 870] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:17:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50801508 -0.77770342 -0.10938369] yaw=-64.0deg [env.py: 1019] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:17:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.6ms [env.py: 1075] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.778, -0.109) [env.py: 1079] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 01:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:17:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:17:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:17:14 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 01:17:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 01:17:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:17:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:17:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:17:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.033s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:17:16 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:17:17 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:17:17 WARNING: [Worker 0] No trajectory data to save for chunk_005 [pipeline.py: 234] +05/12 01:17:17 INFO: [Worker 0] Worker 0 completed house 1: 14/17 successful episodes [pipeline.py: 1323] +05/12 01:17:17 INFO: [Worker 0] [PROFILE] House 1 complete: 14/17 successful, 17 episodes, total_time=5127.54s + House averages: + episode_total: mean=41.54s, total=2991.22s, count=72, min=163.4ms, max=213585.5ms + sensor_polling: mean=340.9ms, total=1774.59s, count=5206, min=262.6ms, max=835.5ms + save_trajectories: mean=9.37s, total=131.22s, count=14, min=8049.4ms, max=11057.0ms + physics_step: mean=22.4ms, total=116.66s, count=5206, min=12.9ms, max=105.9ms + save_batch_prep: mean=3.44s, total=48.16s, count=14, min=2960.3ms, max=4019.4ms + task_specific_sample: mean=391.8ms, total=28.21s, count=72, min=159.7ms, max=832.7ms + task_sampling: mean=520.5ms, total=24.98s, count=48, min=272.0ms, max=3131.3ms + task_sampling_failed: mean=254.0ms, total=6.10s, count=24, min=163.4ms, max=610.4ms + scene_load: mean=2.64s, total=2.64s, count=1, min=2640.9ms, max=2640.9ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1586.5ms, max=1586.5ms + scene_compile: mean=908.2ms, total=908.2ms, count=1, min=908.2ms, max=908.2ms + compile_mujoco: mean=552.3ms, total=552.3ms, count=1, min=552.3ms, max=552.3ms + compile_xml_load: mean=289.6ms, total=289.6ms, count=1, min=289.6ms, max=289.6ms + scene_init: mean=101.8ms, total=101.8ms, count=1, min=101.8ms, max=101.8ms + scene_randomize: mean=1.3ms, total=93.7ms, count=72, min=0.9ms, max=3.7ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + mj_forward_sync: mean=402.9us, total=29.0ms, count=72, min=0.3ms, max=0.6ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=15.3us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 01:17:17 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 01:17:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=5127.54s + Worker averages: + episode_total: mean=41.54s, total=2991.22s, count=72, min=163.4ms, max=213585.5ms + sensor_polling: mean=340.9ms, total=1774.59s, count=5206, min=262.6ms, max=835.5ms + save_trajectories: mean=9.37s, total=131.22s, count=14, min=8049.4ms, max=11057.0ms + physics_step: mean=22.4ms, total=116.66s, count=5206, min=12.9ms, max=105.9ms + save_batch_prep: mean=3.44s, total=48.16s, count=14, min=2960.3ms, max=4019.4ms + task_specific_sample: mean=391.8ms, total=28.21s, count=72, min=159.7ms, max=832.7ms + task_sampling: mean=520.5ms, total=24.98s, count=48, min=272.0ms, max=3131.3ms + task_sampling_failed: mean=254.0ms, total=6.10s, count=24, min=163.4ms, max=610.4ms + scene_load: mean=2.64s, total=2.64s, count=1, min=2640.9ms, max=2640.9ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1586.5ms, max=1586.5ms + scene_compile: mean=908.2ms, total=908.2ms, count=1, min=908.2ms, max=908.2ms + compile_mujoco: mean=552.3ms, total=552.3ms, count=1, min=552.3ms, max=552.3ms + compile_xml_load: mean=289.6ms, total=289.6ms, count=1, min=289.6ms, max=289.6ms + scene_init: mean=101.8ms, total=101.8ms, count=1, min=101.8ms, max=101.8ms + scene_randomize: mean=1.3ms, total=93.7ms, count=72, min=0.9ms, max=3.7ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + mj_forward_sync: mean=402.9us, total=29.0ms, count=72, min=0.3ms, max=0.6ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=15.3us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 01:17:19 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 01:17:19 INFO: Success count: 14, Total count: 17 [pipeline.py: 1491] +05/12 01:17:19 INFO: Success rate: 82.35% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011848.pkl b/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011848.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2e4f8ef4e81a9e2a73eac285d37b63423322ddac --- /dev/null +++ b/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011848.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ece355094591a780d6fcf56159292272623c4b1abe8fbb812eaa3ed6ba0beb7 +size 8146 diff --git a/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011850.pkl b/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011850.pkl new file mode 100644 index 0000000000000000000000000000000000000000..0ae4d33232c3f53bc6ca5d37c8dc83ed1a2d901f --- /dev/null +++ b/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011850.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1173bd611ac19f6a76817b20ec031eaa9718204721a48de8f26be7417295c53 +size 8146 diff --git a/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011852.pkl b/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011852.pkl new file mode 100644 index 0000000000000000000000000000000000000000..106c79dfe11daf48c57cb8b321e823c2478e5dec --- /dev/null +++ b/3drawers/sim_chunks/chunk_006/experiment_config_20260512_011852.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d0b350921d0d273fe5f2dfe6fd61a7b195312ab63d4e5c2d7ecf83ede7a79e8 +size 8146 diff --git a/3drawers/sim_chunks/chunk_006/running_log.log b/3drawers/sim_chunks/chunk_006/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..28e9d614da17c464e5f6de63de25f3fbe2f6f210 --- /dev/null +++ b/3drawers/sim_chunks/chunk_006/running_log.log @@ -0,0 +1,14449 @@ +05/12 01:18:48 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 01:18:48 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 01:18:48 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 01:18:48 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_006'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40602, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 01:18:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 01:18:48 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 01:18:48 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 01:18:48 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 01:18:48 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 01:18:48 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 01:18:48 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_006'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40601, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 01:18:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 01:18:48 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 01:18:48 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 01:18:48 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 01:18:48 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 01:18:50 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 01:18:50 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 01:18:50 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 01:18:50 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_006'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40603, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 01:18:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 01:18:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 01:18:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 01:18:50 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 01:18:51 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 01:18:51 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 01:18:51 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 01:18:51 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 01:18:51 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 01:18:51 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 01:18:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:18:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:51 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 01:18:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:18:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:18:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:18:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156746m [env.py: 870] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:18:51 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 01:18:51 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 01:18:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:18:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:18:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:18:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:18:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181079m [env.py: 870] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:18:51 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29575398 -0.88296922 -0.18107861] yaw=-56.3deg [env.py: 1019] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32740817 -1.06423737 -0.18107861] yaw=-57.3deg [env.py: 1019] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47576897 -0.92678574 -0.15674641] yaw=-63.6deg [env.py: 1019] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:18:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.1ms, retries=218.3ms, total=234.4ms [env.py: 1075] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.927, -0.157) [env.py: 1079] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg [env.py: 1082] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:18:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.5ms, retries=221.4ms, total=237.9ms [env.py: 1075] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -0.883, -0.181) [env.py: 1079] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/12 01:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:18:51 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 01:18:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:18:51 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 01:18:52 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 01:18:52 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 01:18:52 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 01:18:52 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 01:18:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:18:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:18:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:18:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:18:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127329m [env.py: 870] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:18:52 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 01:18:52 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 01:18:52 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 01:18:52 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 01:18:52 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_006'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40604, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 01:18:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 01:18:52 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 01:18:52 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26642981 -1.10777813 -0.12732918] yaw=-52.7deg [env.py: 1019] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29301903 -1.02151789 -0.12732918] yaw=-56.4deg [env.py: 1019] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:18:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.4ms, retries=202.6ms, total=219.0ms [env.py: 1075] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.108, -0.127) [env.py: 1079] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 01:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:52 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 01:18:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:18:52 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 01:18:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 01:18:54 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 01:18:54 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 01:18:54 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 01:18:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:18:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:18:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:18:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:18:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:18:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100589m [env.py: 870] +05/12 01:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:18:54 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46278116 -0.87305742 -0.10058903] yaw=-54.9deg [env.py: 1019] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:18:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.7ms, retries=189.5ms, total=206.2ms [env.py: 1075] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -0.873, -0.101) [env.py: 1079] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/12 01:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 01:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:18:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:18:55 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:19 INFO: [Worker 0] Warmed up parallel IK solver in 27.671s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:20 INFO: [Worker 0] Warmed up parallel IK solver in 28.723s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.770s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:19:21 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:19:22 INFO: [Worker 0] Warmed up parallel IK solver in 29.196s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197462m [env.py: 870] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.63876681 -0.93108145 -0.19746176] yaw=-67.7deg [env.py: 1019] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:19:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=320.2ms, total=320.2ms [env.py: 1075] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.931, -0.197) [env.py: 1079] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 01:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:19:23 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:24 INFO: [Worker 0] Warmed up parallel IK solver in 28.910s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.039s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:26 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.758[m] 83.165[deg] [grasp_sample.py: 539] +05/12 01:19:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.301s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:27 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.647[m] 80.848[deg] [grasp_sample.py: 539] +05/12 01:19:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:19:27 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:19:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:19:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:19:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:19:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166274m [env.py: 870] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1105] +05/12 01:19:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:19:28 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119217m [env.py: 870] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.2ms, total=194.3ms [env.py: 1105] +05/12 01:19:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:19:30 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:19:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154589m [env.py: 870] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15865095 -1.07118346 -0.15458877] yaw=-46.1deg [env.py: 1019] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.071, -0.155) [env.py: 1079] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 01:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:19:31 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.141s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:31 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.724[m] 94.727[deg] [grasp_sample.py: 539] +05/12 01:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:33 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:19:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.314s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:19:33 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:19:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150215m [env.py: 870] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161416m [env.py: 870] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.6ms, total=194.6ms [env.py: 1105] +05/12 01:19:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:19:34 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54895392 -0.88227626 -0.16141594] yaw=-57.9deg [env.py: 1019] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34254583 -0.94656171 -0.16141594] yaw=-41.4deg [env.py: 1019] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35028244 -1.05803178 -0.16141594] yaw=-41.4deg [env.py: 1019] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:19:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=334.8ms, total=334.9ms [env.py: 1075] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.882, -0.161) [env.py: 1079] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/12 01:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:19:35 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137700m [env.py: 870] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.6ms, total=185.6ms [env.py: 1105] +05/12 01:19:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:19:36 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:19:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.732[m] 90.497[deg] [grasp_sample.py: 539] +05/12 01:19:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167630m [env.py: 870] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48924285 -0.8715717 -0.16762962] yaw=-59.9deg [env.py: 1019] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.223819 -1.12328394 -0.16762962] yaw=-40.9deg [env.py: 1019] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:19:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.2ms, total=166.3ms [env.py: 1075] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.872, -0.168) [env.py: 1079] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg [env.py: 1082] +05/12 01:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:37 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:19:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:19:37 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.782[m] 88.363[deg] [grasp_sample.py: 539] +05/12 01:19:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:19:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:19:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:19:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:19:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175901m [env.py: 870] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62823864 -0.8137305 -0.17590134] yaw=-79.8deg [env.py: 1019] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:19:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.6ms, total=205.6ms [env.py: 1075] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.628, -0.814, -0.176) [env.py: 1079] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.8 deg [env.py: 1082] +05/12 01:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:19:39 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.765s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.734[m] 80.220[deg] [grasp_sample.py: 539] +05/12 01:19:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:19:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:19:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:19:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:41 INFO: [Worker 0] Feasible grasp found 887 (originally 223): w/ 0.751[m] 79.497[deg] [grasp_sample.py: 539] +05/12 01:19:42 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:19:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171630m [env.py: 870] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20564476 -1.05348915 -0.17163006] yaw=-45.3deg [env.py: 1019] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31864985 -0.8490189 -0.17163006] yaw=-51.9deg [env.py: 1019] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:19:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=370.9ms, total=370.9ms [env.py: 1075] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.053, -0.172) [env.py: 1079] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 01:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:19:44 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:46 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.743[m] 71.929[deg] [grasp_sample.py: 539] +05/12 01:19:47 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:19:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:19:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:19:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:19:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:19:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:19:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153993m [env.py: 870] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:19:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24373449 -1.03809225 -0.15399317] yaw=-34.1deg [env.py: 1019] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46023995 -0.94380173 -0.15399317] yaw=-62.0deg [env.py: 1019] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:19:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.4ms [env.py: 1075] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.244, -1.038, -0.154) [env.py: 1079] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/12 01:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:19:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:19:48 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 01:19:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:19:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:19:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:19:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:19:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:19:51 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.774[m] 72.757[deg] [grasp_sample.py: 539] +05/12 01:19:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:19:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:19:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:19:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:20:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:20:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:25 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:20:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:20:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:20:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:20:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 389 non-colliding grasps [grasp_sample.py: 465] +05/12 01:20:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.385s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:20:26 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.129[m] 4.013[deg] [grasp_sample.py: 539] +05/12 01:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:20:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:20:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:20:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:20:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:20:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:20:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:20:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:20:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:20:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.551s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:20:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.091[m] 14.365[deg] [grasp_sample.py: 539] +05/12 01:20:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:20:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:20:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:20:50 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.145[m] 10.624[deg] [grasp_sample.py: 539] +05/12 01:20:51 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:20:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:52 INFO: [Worker 0] Object is not in grasp! 0.00154 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:20:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:20:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:20:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:20:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:20:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:20:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:20:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:20:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:20:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:20:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:20:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118333m [env.py: 870] +05/12 01:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:20:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21020048 -1.00502045 -0.11833255] yaw=-41.1deg [env.py: 1019] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:20:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.0ms, total=220.0ms [env.py: 1075] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -1.005, -0.118) [env.py: 1079] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/12 01:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 01:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:20:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.238s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 01:20:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:20:53 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 01:20:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 01:20:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:20:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:20:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.841s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:20:55 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.460s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:20:56 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.132[m] 3.613[deg] [grasp_sample.py: 539] +05/12 01:20:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:20:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:20:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:20:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:20:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:20:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:20:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134624m [env.py: 870] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:20:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4540163 -0.76576619 -0.13462404] yaw=-68.1deg [env.py: 1019] +05/12 01:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:20:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.2ms [env.py: 1075] +05/12 01:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.454, -0.766, -0.135) [env.py: 1079] +05/12 01:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.1 deg [env.py: 1082] +05/12 01:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:20:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:20:57 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 01:20:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:20:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:20:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:20:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:20:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:20:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:20:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:20:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:20:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:20:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:20:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:20:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142680m [env.py: 870] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41757615 -0.82687309 -0.14267991] yaw=-62.0deg [env.py: 1019] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.6ms, total=200.6ms [env.py: 1075] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.827, -0.143) [env.py: 1079] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 01:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:00 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.385s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:21:02 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:21:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:21:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:03 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.130[m] 14.404[deg] [grasp_sample.py: 539] +05/12 01:21:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113123m [env.py: 870] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.6ms, total=193.7ms [env.py: 1105] +05/12 01:21:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:03 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:04 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103784m [env.py: 870] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=179.4ms, total=179.4ms [env.py: 1105] +05/12 01:21:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:05 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:21:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176687m [env.py: 870] +05/12 01:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156253m [env.py: 870] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=503.2ms, total=503.3ms [env.py: 1105] +05/12 01:21:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:06 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=256.4ms, total=256.4ms [env.py: 1105] +05/12 01:21:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:06 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:21:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106715m [env.py: 870] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21530549 -0.93271867 -0.10671513] yaw=-51.7deg [env.py: 1019] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45372384 -0.77556444 -0.10671513] yaw=-57.3deg [env.py: 1019] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=198.1ms, total=198.1ms [env.py: 1075] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -0.933, -0.107) [env.py: 1079] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.7 deg [env.py: 1082] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146240m [env.py: 870] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49576658 -0.87321265 -0.14624002] yaw=-61.1deg [env.py: 1019] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:08 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5151955 -0.75522107 -0.14624002] yaw=-70.6deg [env.py: 1019] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:21:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51240459 -0.81309221 -0.14624002] yaw=-59.2deg [env.py: 1019] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=569.0ms, total=569.1ms [env.py: 1075] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.873, -0.146) [env.py: 1079] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/12 01:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:08 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.449s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:21:10 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132264m [env.py: 870] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41704903 -1.03170794 -0.13226399] yaw=-57.2deg [env.py: 1019] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -1.032, -0.132) [env.py: 1079] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/12 01:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:11 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.700[m] 80.994[deg] [grasp_sample.py: 539] +05/12 01:21:14 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154213m [env.py: 870] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21660061 -0.96174328 -0.15421326] yaw=-53.5deg [env.py: 1019] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.5ms, total=232.6ms [env.py: 1075] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -0.962, -0.154) [env.py: 1079] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 01:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:16 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.595s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:21:17 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:21:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:21:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128120m [env.py: 870] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3639938 -1.01685557 -0.12812027] yaw=-47.2deg [env.py: 1019] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55190454 -1.0024404 -0.12812027] yaw=-58.5deg [env.py: 1019] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.017, -0.128) [env.py: 1079] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/12 01:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:19 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.744s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:20 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.768[m] 100.045[deg] [grasp_sample.py: 539] +05/12 01:21:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:21:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:21:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 360 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.141s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:21 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.734[m] 78.695[deg] [grasp_sample.py: 539] +05/12 01:21:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.276s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:21 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.029[m] 4.017[deg] [grasp_sample.py: 539] +05/12 01:21:21 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:21:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:21:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:21:22 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129942m [env.py: 870] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=273.7ms, total=273.7ms [env.py: 1105] +05/12 01:21:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:23 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127159m [env.py: 870] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61687142 -0.78668853 -0.1271592 ] yaw=-64.9deg [env.py: 1019] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.5ms, total=228.6ms [env.py: 1075] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.617, -0.787, -0.127) [env.py: 1079] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:24 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:21:24 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=4.11s: + episode_total: mean=77.38s, total=154.76s, count=2, min=33150.8ms, max=121604.5ms + sensor_polling: mean=336.3ms, total=100.88s, count=300, min=298.8ms, max=647.7ms + physics_step: mean=22.2ms, total=6.65s, count=300, min=15.1ms, max=50.2ms + task_sampling: mean=2.06s, total=4.11s, count=2, min=534.3ms, max=3578.9ms + scene_load: mean=3.07s, total=3.07s, count=1, min=3068.0ms, max=3068.0ms + scene_env_create: mean=1.92s, total=1.92s, count=1, min=1916.6ms, max=1916.6ms + task_specific_sample: mean=520.4ms, total=1.04s, count=2, min=508.7ms, max=532.1ms + scene_compile: mean=1.01s, total=1.01s, count=1, min=1009.2ms, max=1009.2ms + compile_mujoco: mean=608.3ms, total=608.3ms, count=1, min=608.3ms, max=608.3ms + compile_xml_load: mean=319.5ms, total=319.5ms, count=1, min=319.5ms, max=319.5ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + scene_asset_install: mean=45.3ms, total=45.3ms, count=1, min=45.3ms, max=45.3ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + scene_randomize: mean=978.8us, total=2.0ms, count=2, min=0.9ms, max=1.1ms + mj_forward_sync: mean=382.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=22.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:21:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:24 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135225m [env.py: 870] +05/12 01:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51402246 -0.78050567 -0.13522502] yaw=-56.9deg [env.py: 1019] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.8ms [env.py: 1075] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.781, -0.135) [env.py: 1079] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 01:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 01:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:25 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120556m [env.py: 870] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.3ms, total=216.3ms [env.py: 1105] +05/12 01:21:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:26 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.489s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:21:27 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:21:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118914m [env.py: 870] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187340m [env.py: 870] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=220.3ms, total=220.3ms [env.py: 1105] +05/12 01:21:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:28 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=326.6ms, total=326.6ms [env.py: 1105] +05/12 01:21:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107676m [env.py: 870] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5778915 -0.93064757 -0.10767603] yaw=-66.2deg [env.py: 1019] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162930m [env.py: 870] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.1ms, total=215.1ms [env.py: 1075] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.931, -0.108) [env.py: 1079] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.5ms, total=201.6ms [env.py: 1105] +05/12 01:21:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:30 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:30 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135032m [env.py: 870] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42729708 -1.00616869 -0.13503167] yaw=-44.4deg [env.py: 1019] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.8ms, total=204.8ms [env.py: 1075] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.006, -0.135) [env.py: 1079] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 01:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:31 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.043s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.718[m] 99.973[deg] [grasp_sample.py: 539] +05/12 01:21:33 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:34 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.732[m] 88.247[deg] [grasp_sample.py: 539] +05/12 01:21:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125614m [env.py: 870] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:21:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.4ms, total=206.5ms [env.py: 1105] +05/12 01:21:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:34 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:21:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162268m [env.py: 870] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26098143 -1.16192071 -0.1622682 ] yaw=-50.6deg [env.py: 1019] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1075] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -1.162, -0.162) [env.py: 1079] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 01:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:36 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:42 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.703[m] 89.451[deg] [grasp_sample.py: 539] +05/12 01:21:43 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.729s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:44 INFO: [Worker 0] Feasible grasp found 77 (originally 77): w/ 0.779[m] 91.908[deg] [grasp_sample.py: 539] +05/12 01:21:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199134m [env.py: 870] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=311.3ms, total=311.4ms [env.py: 1105] +05/12 01:21:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:45 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:45 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188518m [env.py: 870] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.2ms, total=214.3ms [env.py: 1105] +05/12 01:21:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:46 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173763m [env.py: 870] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=284.1ms, total=284.2ms [env.py: 1105] +05/12 01:21:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:47 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179425m [env.py: 870] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26382026 -1.21639979 -0.17942511] yaw=-32.6deg [env.py: 1019] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=266.5ms, total=266.5ms [env.py: 1075] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.216, -0.179) [env.py: 1079] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.6 deg [env.py: 1082] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:48 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172869m [env.py: 870] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.6ms, total=192.6ms [env.py: 1105] +05/12 01:21:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:49 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.651[m] 81.337[deg] [grasp_sample.py: 539] +05/12 01:21:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148453m [env.py: 870] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.7ms, total=191.7ms [env.py: 1105] +05/12 01:21:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:21:50 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:21:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:21:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195945m [env.py: 870] +05/12 01:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49347304 -0.98076284 -0.19594496] yaw=-58.0deg [env.py: 1019] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.7ms [env.py: 1075] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.981, -0.196) [env.py: 1079] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:52 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:21:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:21:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:21:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:21:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:21:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194736m [env.py: 870] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:21:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24749069 -0.99880038 -0.19473636] yaw=-35.8deg [env.py: 1019] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47750304 -0.8691473 -0.19473636] yaw=-68.1deg [env.py: 1019] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:21:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.5ms, total=245.5ms [env.py: 1075] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.999, -0.195) [env.py: 1079] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.8 deg [env.py: 1082] +05/12 01:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 01:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:21:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:21:53 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 01:21:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:21:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:21:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:21:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:21:54 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:21:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.729s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:21:55 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.630[m] 82.734[deg] [grasp_sample.py: 539] +05/12 01:21:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:21:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:21:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:22:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:22:11 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.765[m] 80.162[deg] [grasp_sample.py: 539] +05/12 01:22:12 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:22:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:22:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:22:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:22:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:22:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:22:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:22:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146403m [env.py: 870] +05/12 01:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:22:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32957895 -1.22431769 -0.14640301] yaw=-30.8deg [env.py: 1019] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42821661 -0.80774479 -0.14640301] yaw=-71.6deg [env.py: 1019] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61879332 -0.87074657 -0.14640301] yaw=-77.7deg [env.py: 1019] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:22:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=204.0ms, total=204.1ms [env.py: 1075] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.224, -0.146) [env.py: 1079] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.8 deg [env.py: 1082] +05/12 01:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 01:22:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:22:14 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 01:22:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:22:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:22:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:22:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:22:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.413s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:22:15 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.608[m] 78.446[deg] [grasp_sample.py: 539] +05/12 01:22:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:22:16 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:22:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:22:16 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 01:22:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:22:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:22:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:22:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:22:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:22:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.93s (batch: 3.41s, save: 9.52s) [pipeline.py: 300] +05/12 01:22:29 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=5.23s: + episode_total: mean=26.34s, total=210.76s, count=8, min=202.2ms, max=161271.6ms + sensor_polling: mean=381.2ms, total=110.92s, count=291, min=301.6ms, max=760.2ms + save_trajectories: mean=9.52s, total=9.52s, count=1, min=9519.5ms, max=9519.5ms + physics_step: mean=24.9ms, total=7.26s, count=291, min=15.0ms, max=122.7ms + task_sampling: mean=871.4ms, total=5.23s, count=6, min=415.5ms, max=2837.6ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3411.6ms, max=3411.6ms + task_specific_sample: mean=407.1ms, total=3.26s, count=8, min=199.3ms, max=585.0ms + scene_load: mean=2.37s, total=2.37s, count=1, min=2366.2ms, max=2366.2ms + scene_env_create: mean=1.42s, total=1.42s, count=1, min=1422.5ms, max=1422.5ms + scene_compile: mean=798.4ms, total=798.4ms, count=1, min=798.4ms, max=798.4ms + compile_mujoco: mean=519.0ms, total=519.0ms, count=1, min=519.0ms, max=519.0ms + task_sampling_failed: mean=207.2ms, total=414.3ms, count=2, min=202.2ms, max=212.1ms + compile_xml_load: mean=214.3ms, total=214.3ms, count=1, min=214.3ms, max=214.3ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + scene_asset_install: mean=48.3ms, total=48.3ms, count=1, min=48.3ms, max=48.3ms + asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + scene_randomize: mean=1.1ms, total=8.4ms, count=8, min=0.9ms, max=1.4ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=398.5us, total=3.2ms, count=8, min=0.4ms, max=0.5ms + policy_setup: mean=22.1us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:22:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:22:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167420m [env.py: 870] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38332294 -0.86285882 -0.16741957] yaw=-54.2deg [env.py: 1019] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:22:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=178.0ms [env.py: 1075] +05/12 01:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.863, -0.167) [env.py: 1079] +05/12 01:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 01:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 01:22:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:22:31 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 01:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 01:22:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:22:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:22:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:22:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:22:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.314s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:22:39 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:22:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:22:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:22:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:22:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:22:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:22:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176875m [env.py: 870] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:22:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31445602 -1.13209787 -0.17687535] yaw=-51.2deg [env.py: 1019] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.8ms, total=229.9ms [env.py: 1075] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.132, -0.177) [env.py: 1079] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 01:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:22:41 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 01:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:22:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:22:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:22:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.504s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:22:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.637[m] 85.091[deg] [grasp_sample.py: 539] +05/12 01:22:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:22:44 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:22:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:22:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:22:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:22:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:22:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:22:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182862m [env.py: 870] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:22:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18675052 -1.03637926 -0.18286234] yaw=-36.3deg [env.py: 1019] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:22:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.6ms, total=234.6ms [env.py: 1075] +05/12 01:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -1.036, -0.183) [env.py: 1079] +05/12 01:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg [env.py: 1082] +05/12 01:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 01:22:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:22:46 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 01:22:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 01:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:22:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:22:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:22:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:22:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:22:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.617s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:22:49 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:22:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:22:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:22:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:22:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:22:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:22:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154878m [env.py: 870] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:22:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28114441 -1.06299577 -0.15487769] yaw=-42.1deg [env.py: 1019] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.0870684 -1.07592797 -0.15487769] yaw=-30.2deg [env.py: 1019] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:22:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=207.0ms [env.py: 1075] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -1.063, -0.155) [env.py: 1079] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/12 01:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:22:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:22:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:22:50 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 01:22:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 01:22:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:22:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:22:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:22:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:22:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:07 INFO: [Worker 0] Object is not in grasp! 0.00178 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:23:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:23:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:23:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:23:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 363 non-colliding grasps [grasp_sample.py: 465] +05/12 01:23:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.045s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:23:07 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.653[m] 83.008[deg] [grasp_sample.py: 539] +05/12 01:23:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:23:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:23:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:23:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:23:09 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.067[m] 5.575[deg] [grasp_sample.py: 539] +05/12 01:23:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:23:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:23:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:23:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:23:25 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:23:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:23:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:23:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:23:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 403 non-colliding grasps [grasp_sample.py: 465] +05/12 01:23:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:23:30 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.073[m] 14.372[deg] [grasp_sample.py: 539] +05/12 01:23:31 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:23:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:23:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:23:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:23:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:23:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:23:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:23:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109798m [env.py: 870] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:23:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57679004 -0.7205288 -0.10979847] yaw=-80.4deg [env.py: 1019] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:23:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.6ms, total=225.7ms [env.py: 1075] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.721, -0.110) [env.py: 1079] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.4 deg [env.py: 1082] +05/12 01:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:23:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:23:33 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 01:23:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:23:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:23:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:23:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:23:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.392s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:23:35 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:23:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:23:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:23:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:23:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:23:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:23:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:23:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183093m [env.py: 870] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:23:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33087219 -1.01367462 -0.18309292] yaw=-46.4deg [env.py: 1019] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:23:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=328.4ms, total=328.5ms [env.py: 1075] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -1.014, -0.183) [env.py: 1079] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg [env.py: 1082] +05/12 01:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:23:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:23:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:23:37 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 01:23:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:23:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:23:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:23:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:23:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.618s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:23:41 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.756[m] 82.316[deg] [grasp_sample.py: 539] +05/12 01:23:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:23:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:23:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:23:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:23:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:23:45 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 01:23:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:23:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:23:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:23:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.13s (batch: 3.23s, save: 8.90s) [pipeline.py: 300] +05/12 01:23:58 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=5.92s: + episode_total: mean=26.94s, total=296.34s, count=11, min=194.0ms, max=146701.4ms + sensor_polling: mean=350.9ms, total=155.45s, count=443, min=293.5ms, max=543.5ms + physics_step: mean=22.8ms, total=10.08s, count=443, min=14.9ms, max=101.5ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8900.0ms, max=8900.0ms + task_sampling: mean=1.18s, total=5.92s, count=5, min=386.6ms, max=3882.5ms + task_specific_sample: mean=387.6ms, total=4.26s, count=11, min=190.6ms, max=807.2ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3358.4ms, max=3358.4ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3225.3ms, max=3225.3ms + scene_env_create: mean=1.89s, total=1.89s, count=1, min=1887.6ms, max=1887.6ms + task_sampling_failed: mean=289.8ms, total=1.74s, count=6, min=194.0ms, max=511.3ms + scene_compile: mean=1.33s, total=1.33s, count=1, min=1325.2ms, max=1325.2ms + compile_mujoco: mean=627.7ms, total=627.7ms, count=1, min=627.7ms, max=627.7ms + compile_xml_load: mean=616.9ms, total=616.9ms, count=1, min=616.9ms, max=616.9ms + scene_init: mean=100.7ms, total=100.7ms, count=1, min=100.7ms, max=100.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms + asset_install_grasps: mean=30.1ms, total=30.1ms, count=1, min=30.1ms, max=30.1ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + scene_randomize: mean=1.2ms, total=13.1ms, count=11, min=0.9ms, max=1.8ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + mj_forward_sync: mean=459.4us, total=5.1ms, count=11, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=18.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:23:58 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:23:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:23:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:23:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:23:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:23:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:23:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:23:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:23:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:23:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107471m [env.py: 870] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:23:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:23:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.1ms, total=208.1ms [env.py: 1105] +05/12 01:23:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:23:59 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:24:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:24:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:24:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:24:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:24:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:24:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:24:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:24:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:24:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193210m [env.py: 870] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:24:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60404369 -0.99753726 -0.19320999] yaw=-60.0deg [env.py: 1019] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:24:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1075] +05/12 01:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.604, -0.998, -0.193) [env.py: 1079] +05/12 01:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 01:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 01:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:24:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:24:01 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 01:24:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 01:24:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:24:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:24:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:24:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.666s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:24:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.576[m] 80.144[deg] [grasp_sample.py: 539] +05/12 01:24:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:24:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:24:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:24:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:24:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:24:16 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:24:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:24:16 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 01:24:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:24:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:24:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.40s (batch: 2.87s, save: 8.52s) [pipeline.py: 300] +05/12 01:24:28 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=2.27s: + episode_total: mean=16.97s, total=169.74s, count=10, min=214.9ms, max=134175.7ms + sensor_polling: mean=363.8ms, total=93.86s, count=258, min=307.5ms, max=590.3ms + save_trajectories: mean=8.52s, total=8.52s, count=1, min=8524.7ms, max=8524.7ms + physics_step: mean=24.2ms, total=6.25s, count=258, min=19.7ms, max=79.2ms + task_specific_sample: mean=345.6ms, total=3.46s, count=10, min=211.5ms, max=493.5ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2871.5ms, max=2871.5ms + task_sampling: mean=454.2ms, total=2.27s, count=5, min=407.6ms, max=495.6ms + task_sampling_failed: mean=242.6ms, total=1.21s, count=5, min=214.9ms, max=319.1ms + scene_randomize: mean=1.1ms, total=11.2ms, count=10, min=1.0ms, max=1.5ms + mj_forward_sync: mean=429.4us, total=4.3ms, count=10, min=0.4ms, max=0.5ms + policy_setup: mean=17.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:24:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:24:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:24:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:24:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:24:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:24:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:24:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181113m [env.py: 870] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:24:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4645753 -0.92953288 -0.18111323] yaw=-57.6deg [env.py: 1019] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64737633 -0.9672621 -0.18111323] yaw=-62.9deg [env.py: 1019] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45674166 -0.88449987 -0.18111323] yaw=-55.8deg [env.py: 1019] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:24:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms [env.py: 1075] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.930, -0.181) [env.py: 1079] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 01:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:24:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:24:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:24:29 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 01:24:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 01:24:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:24:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:24:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:24:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:24:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 92.254[deg] [grasp_sample.py: 539] +05/12 01:24:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:24:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:24:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:24:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:24:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:24:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:24:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:24:48 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:24:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:24:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:24:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:06 INFO: [Worker 0] Object is not in grasp! 0.00181 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:25:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:25:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.334s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:25:07 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.053[m] 0.623[deg] [grasp_sample.py: 539] +05/12 01:25:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:25:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:25:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:25:07 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 01:25:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:25:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:25:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:25:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:25:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.93s (batch: 3.43s, save: 8.50s) [pipeline.py: 300] +05/12 01:25:19 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.71s: + episode_total: mean=41.23s, total=164.93s, count=4, min=3209.9ms, max=149388.8ms + sensor_polling: mean=347.5ms, total=92.44s, count=266, min=304.5ms, max=546.1ms + save_trajectories: mean=8.50s, total=8.50s, count=1, min=8501.5ms, max=8501.5ms + physics_step: mean=22.9ms, total=6.10s, count=266, min=15.4ms, max=80.8ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3430.5ms, max=3430.5ms + task_sampling: mean=428.5ms, total=1.71s, count=4, min=409.8ms, max=437.5ms + task_specific_sample: mean=425.9ms, total=1.70s, count=4, min=407.8ms, max=435.3ms + scene_randomize: mean=1.3ms, total=5.4ms, count=4, min=0.9ms, max=2.4ms + mj_forward_sync: mean=395.9us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=19.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:25:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135356m [env.py: 870] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58775668 -0.9048592 -0.13535612] yaw=-72.2deg [env.py: 1019] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17962924 -1.12332719 -0.13535612] yaw=-28.2deg [env.py: 1019] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:25:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=396.7ms, total=396.7ms [env.py: 1075] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.588, -0.905, -0.135) [env.py: 1079] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg [env.py: 1082] +05/12 01:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:25:21 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 01:25:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 01:25:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:25:28 INFO: [Worker 0] Object is not in grasp! 0.00116 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:25:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 385 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:25:28 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.051[m] 0.514[deg] [grasp_sample.py: 539] +05/12 01:25:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:25:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:25:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.278s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:25:31 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.725[m] 82.729[deg] [grasp_sample.py: 539] +05/12 01:25:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:32 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:25:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175766m [env.py: 870] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64783663 -0.95277833 -0.17576639] yaw=-63.5deg [env.py: 1019] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:25:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=325.9ms, total=325.9ms [env.py: 1075] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.648, -0.953, -0.176) [env.py: 1079] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg [env.py: 1082] +05/12 01:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:25:34 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 01:25:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:25:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.747s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:25:34 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.626[m] 85.902[deg] [grasp_sample.py: 539] +05/12 01:25:35 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:25:36 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:25:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128890m [env.py: 870] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52326136 -0.94633742 -0.12888974] yaw=-72.9deg [env.py: 1019] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:25:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=318.6ms, total=318.7ms [env.py: 1075] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.946, -0.129) [env.py: 1079] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.9 deg [env.py: 1082] +05/12 01:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:25:38 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 01:25:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:25:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:25:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.935s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:25:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.710[m] 85.361[deg] [grasp_sample.py: 539] +05/12 01:25:41 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:25:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148083m [env.py: 870] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.4ms, total=198.4ms [env.py: 1105] +05/12 01:25:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:25:42 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:25:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108646m [env.py: 870] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.1ms, total=198.2ms [env.py: 1105] +05/12 01:25:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:25:44 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136695m [env.py: 870] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18193295 -1.03729743 -0.1366954 ] yaw=-42.5deg [env.py: 1019] +05/12 01:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms [env.py: 1075] +05/12 01:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -1.037, -0.137) [env.py: 1079] +05/12 01:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/12 01:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 01:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:25:46 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 01:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:25:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.608s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:25:47 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:25:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195020m [env.py: 870] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47089966 -0.99941568 -0.19501973] yaw=-65.0deg [env.py: 1019] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11909176 -1.06617268 -0.19501973] yaw=-45.4deg [env.py: 1019] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57083208 -0.82129943 -0.19501973] yaw=-77.6deg [env.py: 1019] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:25:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.7ms [env.py: 1075] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.999, -0.195) [env.py: 1079] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 01:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:25:49 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 01:25:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:25:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:25:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.677[m] 89.052[deg] [grasp_sample.py: 539] +05/12 01:25:52 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:25:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:25:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:25:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:25:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:25:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:25:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106564m [env.py: 870] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:25:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44255823 -0.93965838 -0.10656363] yaw=-53.2deg [env.py: 1019] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66613594 -0.91837012 -0.10656363] yaw=-62.0deg [env.py: 1019] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:25:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.3ms, total=267.4ms [env.py: 1075] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -0.940, -0.107) [env.py: 1079] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 01:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:25:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:25:54 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 01:25:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:25:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:25:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:25:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:25:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:25:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:25:55 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 01:25:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.615s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:25:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.718[m] 87.470[deg] [grasp_sample.py: 539] +05/12 01:25:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:25:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:25:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:25:57 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:26:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:26:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:26:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.14s (batch: 3.71s, save: 9.43s) [pipeline.py: 300] +05/12 01:26:09 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=7.93s: + episode_total: mean=22.99s, total=413.76s, count=18, min=187.6ms, max=152229.5ms + sensor_polling: mean=367.3ms, total=230.67s, count=628, min=317.7ms, max=609.3ms + physics_step: mean=22.1ms, total=13.88s, count=628, min=14.9ms, max=62.2ms + save_trajectories: mean=9.43s, total=9.43s, count=1, min=9425.8ms, max=9425.8ms + task_sampling: mean=660.5ms, total=7.93s, count=12, min=402.7ms, max=2923.5ms + task_specific_sample: mean=375.3ms, total=6.76s, count=18, min=184.3ms, max=600.3ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3711.0ms, max=3711.0ms + scene_load: mean=2.47s, total=2.47s, count=1, min=2470.1ms, max=2470.1ms + scene_env_create: mean=1.46s, total=1.46s, count=1, min=1462.3ms, max=1462.3ms + task_sampling_failed: mean=224.6ms, total=1.35s, count=6, min=187.6ms, max=291.9ms + scene_compile: mean=850.6ms, total=850.6ms, count=1, min=850.6ms, max=850.6ms + compile_mujoco: mean=528.6ms, total=528.6ms, count=1, min=528.6ms, max=528.6ms + compile_xml_load: mean=256.6ms, total=256.6ms, count=1, min=256.6ms, max=256.6ms + scene_init: mean=98.4ms, total=98.4ms, count=1, min=98.4ms, max=98.4ms + scene_asset_install: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + scene_randomize: mean=1.1ms, total=20.1ms, count=18, min=0.9ms, max=1.6ms + asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms + mj_forward_sync: mean=430.3us, total=7.7ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=16.7us, total=0.2ms, count=12, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:26:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173151m [env.py: 870] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=655.3ms, total=655.4ms [env.py: 1105] +05/12 01:26:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:26:11 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:26:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189683m [env.py: 870] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54682047 -0.88035794 -0.18968292] yaw=-69.5deg [env.py: 1019] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.8ms [env.py: 1075] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -0.880, -0.190) [env.py: 1079] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/12 01:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:12 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.628s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:15 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.664[m] 90.108[deg] [grasp_sample.py: 539] +05/12 01:26:16 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:26:16 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:26:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:26:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:26:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:26:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156739m [env.py: 870] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.9ms, total=211.9ms [env.py: 1105] +05/12 01:26:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:26:18 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:26:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183698m [env.py: 870] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52223407 -0.77961548 -0.18369782] yaw=-68.0deg [env.py: 1019] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.4ms, total=194.5ms [env.py: 1075] +05/12 01:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -0.780, -0.184) [env.py: 1079] +05/12 01:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 01:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 01:26:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:20 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.748s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:25 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:26:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106948m [env.py: 870] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60477346 -0.95373489 -0.10694847] yaw=-64.7deg [env.py: 1019] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30356151 -1.10123735 -0.10694847] yaw=-38.1deg [env.py: 1019] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms [env.py: 1075] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.954, -0.107) [env.py: 1079] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 01:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:26 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:26:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:26:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.25s (batch: 3.92s, save: 10.33s) [pipeline.py: 300] +05/12 01:26:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.029s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:32 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.720[m] 91.635[deg] [grasp_sample.py: 539] +05/12 01:26:32 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s: + episode_total: mean=75.96s, total=151.92s, count=2, min=218.0ms, max=151699.8ms + sensor_polling: mean=346.0ms, total=103.80s, count=300, min=297.5ms, max=531.8ms + save_trajectories: mean=10.33s, total=10.33s, count=1, min=10329.2ms, max=10329.2ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=14.8ms, max=50.5ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3919.3ms, max=3919.3ms + task_specific_sample: mean=326.3ms, total=652.6ms, count=2, min=213.6ms, max=439.0ms + task_sampling: mean=441.5ms, total=441.5ms, count=1, min=441.5ms, max=441.5ms + task_sampling_failed: mean=218.0ms, total=218.0ms, count=1, min=218.0ms, max=218.0ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.0ms, max=1.8ms + mj_forward_sync: mean=427.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:26:33 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159034m [env.py: 870] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33197422 -1.09934786 -0.15903353] yaw=-42.9deg [env.py: 1019] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.1ms, total=195.2ms [env.py: 1075] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -1.099, -0.159) [env.py: 1079] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:34 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153521m [env.py: 870] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31890171 -1.11075389 -0.15352121] yaw=-37.8deg [env.py: 1019] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms [env.py: 1075] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.111, -0.154) [env.py: 1079] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 01:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:34 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:26:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:26:36 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 01:26:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.594s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.689[m] 91.170[deg] [grasp_sample.py: 539] +05/12 01:26:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.701s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:37 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.663[m] 85.781[deg] [grasp_sample.py: 539] +05/12 01:26:37 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:26:38 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:26:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105660m [env.py: 870] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17664322 -1.09559692 -0.1056598 ] yaw=-31.3deg [env.py: 1019] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.7ms, total=220.8ms [env.py: 1075] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.096, -0.106) [env.py: 1079] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg [env.py: 1082] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:39 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128114m [env.py: 870] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48794008 -0.84208351 -0.1281142 ] yaw=-72.6deg [env.py: 1019] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.4ms [env.py: 1075] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.842, -0.128) [env.py: 1079] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 01:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:40 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:26:41 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:26:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136818m [env.py: 870] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33124821 -0.8435468 -0.13681795] yaw=-47.5deg [env.py: 1019] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=540.0ms, total=540.1ms [env.py: 1075] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.844, -0.137) [env.py: 1079] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 01:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:43 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:26:44 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:26:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121387m [env.py: 870] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.4ms, total=201.4ms [env.py: 1105] +05/12 01:26:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:26:46 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:26:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130116m [env.py: 870] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49691677 -0.98403505 -0.13011565] yaw=-58.6deg [env.py: 1019] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.6745467 -0.95702868 -0.13011565] yaw=-76.2deg [env.py: 1019] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.8ms [env.py: 1075] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.984, -0.130) [env.py: 1079] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/12 01:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:47 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:26:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:26:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.08s (batch: 3.52s, save: 9.56s) [pipeline.py: 300] +05/12 01:26:49 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s: + episode_total: mean=140.40s, total=140.40s, count=1, min=140395.7ms, max=140395.7ms + sensor_polling: mean=351.6ms, total=96.68s, count=275, min=300.7ms, max=552.2ms + save_trajectories: mean=9.56s, total=9.56s, count=1, min=9564.3ms, max=9564.3ms + physics_step: mean=23.5ms, total=6.46s, count=275, min=14.7ms, max=57.8ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3520.2ms, max=3520.2ms + task_sampling: mean=429.0ms, total=429.0ms, count=1, min=429.0ms, max=429.0ms + task_specific_sample: mean=425.2ms, total=425.2ms, count=1, min=425.2ms, max=425.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=430.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177716m [env.py: 870] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.5ms, total=214.6ms [env.py: 1105] +05/12 01:26:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:26:51 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:26:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.550s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:51 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.719[m] 84.161[deg] [grasp_sample.py: 539] +05/12 01:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:26:52 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136712m [env.py: 870] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36665198 -1.15055915 -0.13671182] yaw=-40.1deg [env.py: 1019] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=468.5ms, total=468.5ms [env.py: 1075] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -1.151, -0.137) [env.py: 1079] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/12 01:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:53 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159441m [env.py: 870] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.0ms, total=193.0ms [env.py: 1105] +05/12 01:26:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:26:53 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122088m [env.py: 870] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.1ms, total=186.1ms [env.py: 1105] +05/12 01:26:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:26:55 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:26:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.776s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:56 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.661[m] 82.360[deg] [grasp_sample.py: 539] +05/12 01:26:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:26:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:26:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:26:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140287m [env.py: 870] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=335.8ms, total=335.9ms [env.py: 1105] +05/12 01:26:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:26:56 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:26:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:26:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:26:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:26:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:26:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:26:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:26:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153389m [env.py: 870] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:26:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37439622 -0.80584935 -0.1533893 ] yaw=-65.5deg [env.py: 1019] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30447385 -0.87658325 -0.1533893 ] yaw=-46.6deg [env.py: 1019] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:26:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=315.7ms, total=315.7ms [env.py: 1075] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -0.806, -0.153) [env.py: 1079] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg [env.py: 1082] +05/12 01:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:26:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:26:58 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 01:26:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:26:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:26:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:26:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.015s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:26:59 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.778[m] 101.522[deg] [grasp_sample.py: 539] +05/12 01:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:26:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:26:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:26:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:27:00 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:27:00 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189011m [env.py: 870] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1378802 -1.05140304 -0.18901094] yaw=-45.5deg [env.py: 1019] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192365m [env.py: 870] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.5ms [env.py: 1075] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -1.051, -0.189) [env.py: 1079] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=216.7ms, total=216.8ms [env.py: 1105] +05/12 01:27:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:27:02 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:27:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:02 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161360m [env.py: 870] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60138448 -0.8879217 -0.16135983] yaw=-58.1deg [env.py: 1019] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.8ms, total=200.8ms [env.py: 1075] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.888, -0.161) [env.py: 1079] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 01:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:03 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.673s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:27:04 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:27:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.288s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.722[m] 85.888[deg] [grasp_sample.py: 539] +05/12 01:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199786m [env.py: 870] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67561303 -0.95975985 -0.19978601] yaw=-71.2deg [env.py: 1019] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.3ms, total=203.3ms [env.py: 1075] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.676, -0.960, -0.200) [env.py: 1079] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.2 deg [env.py: 1082] +05/12 01:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:05 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:06 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.714s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.587[m] 88.228[deg] [grasp_sample.py: 539] +05/12 01:27:07 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:07 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 01:27:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157626m [env.py: 870] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55321135 -1.03377068 -0.15762583] yaw=-66.5deg [env.py: 1019] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65307858 -0.92042156 -0.15762583] yaw=-64.8deg [env.py: 1019] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29538683 -1.16167521 -0.15762583] yaw=-46.6deg [env.py: 1019] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.2ms, total=101.2ms [env.py: 1075] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -1.034, -0.158) [env.py: 1079] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/12 01:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:08 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137807m [env.py: 870] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30454907 -0.86512242 -0.13780689] yaw=-60.9deg [env.py: 1019] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -0.865, -0.138) [env.py: 1079] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 01:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:09 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.584s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:09 INFO: [Worker 0] Feasible grasp found 289 (originally 289): w/ 0.106[m] 19.379[deg] [grasp_sample.py: 539] +05/12 01:27:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:10 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.713s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:27:11 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:27:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191723m [env.py: 870] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49815787 -0.87337933 -0.19172268] yaw=-70.7deg [env.py: 1019] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.5ms, total=201.6ms [env.py: 1075] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.873, -0.192) [env.py: 1079] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:12 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.645[m] 94.037[deg] [grasp_sample.py: 539] +05/12 01:27:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120235m [env.py: 870] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5650748 -0.73629085 -0.12023493] yaw=-67.9deg [env.py: 1019] +05/12 01:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=605.1ms, total=605.2ms [env.py: 1075] +05/12 01:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.736, -0.120) [env.py: 1079] +05/12 01:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/12 01:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/12 01:27:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:13 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:14 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.346s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:27:15 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.710s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.740[m] 92.459[deg] [grasp_sample.py: 539] +05/12 01:27:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186527m [env.py: 870] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48868455 -0.97712243 -0.18652712] yaw=-61.6deg [env.py: 1019] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.8ms [env.py: 1075] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.977, -0.187) [env.py: 1079] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.6 deg [env.py: 1082] +05/12 01:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:15 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:16 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:16 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 01:27:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175718m [env.py: 870] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20538395 -1.16820254 -0.17571758] yaw=-25.6deg [env.py: 1019] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.0ms, total=203.2ms [env.py: 1075] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -1.168, -0.176) [env.py: 1079] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.6 deg [env.py: 1082] +05/12 01:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:17 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.482s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.653[m] 85.213[deg] [grasp_sample.py: 539] +05/12 01:27:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:27:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:27:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:27:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160061m [env.py: 870] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5560278 -1.00092703 -0.16006099] yaw=-67.3deg [env.py: 1019] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51792573 -0.87608801 -0.16006099] yaw=-63.6deg [env.py: 1019] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.0ms, total=339.1ms [env.py: 1075] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -1.001, -0.160) [env.py: 1079] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 01:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:27:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:18 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.597[m] 92.978[deg] [grasp_sample.py: 539] +05/12 01:27:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.080s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:20 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.732[m] 92.153[deg] [grasp_sample.py: 539] +05/12 01:27:21 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:21 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:27:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198118m [env.py: 870] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32377506 -1.19610483 -0.19811837] yaw=-33.7deg [env.py: 1019] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122971m [env.py: 870] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43561183 -0.78490676 -0.19811837] yaw=-62.4deg [env.py: 1019] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.4ms, total=219.4ms [env.py: 1075] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.196, -0.198) [env.py: 1079] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.7 deg [env.py: 1082] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3150674 -0.91960418 -0.12297066] yaw=-44.4deg [env.py: 1019] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=275.4ms, total=275.4ms [env.py: 1075] +05/12 01:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -0.920, -0.123) [env.py: 1079] +05/12 01:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 01:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 01:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:23 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:23 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.375s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.632[m] 92.389[deg] [grasp_sample.py: 539] +05/12 01:27:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:27:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:27:24 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:27:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:27:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:27:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:27:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111537m [env.py: 870] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.3ms, total=203.4ms [env.py: 1105] +05/12 01:27:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:27:26 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:27:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181588m [env.py: 870] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.2ms, total=232.3ms [env.py: 1105] +05/12 01:27:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:27:27 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:27:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:27:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:27:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:27:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:27:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:27:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143806m [env.py: 870] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:27:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24239305 -1.14425723 -0.14380585] yaw=-46.9deg [env.py: 1019] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45989654 -1.08158141 -0.14380585] yaw=-43.4deg [env.py: 1019] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:27:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.7ms [env.py: 1075] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.144, -0.144) [env.py: 1079] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 01:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:27:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:27:29 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 01:27:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 01:27:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:27:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:27:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:27:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:27:32 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.739[m] 90.888[deg] [grasp_sample.py: 539] +05/12 01:27:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:27:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:27:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:27:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:27:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:27:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:28:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:28:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:30 INFO: [Worker 0] Object is not in grasp! 0.00146 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:28:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:28:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:28:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:28:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 366 non-colliding grasps [grasp_sample.py: 465] +05/12 01:28:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.994s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:28:35 INFO: [Worker 0] Feasible grasp found 437 (originally 437): w/ 0.112[m] 5.532[deg] [grasp_sample.py: 539] +05/12 01:28:36 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:28:37 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:28:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:28:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:28:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:28:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:28:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:28:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:28:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:28:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:28:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112557m [env.py: 870] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:28:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.1ms, total=196.1ms [env.py: 1105] +05/12 01:28:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:28:37 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:28:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:28:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:28:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:28:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:28:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:28:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:28:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143535m [env.py: 870] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:28:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42577437 -0.85153372 -0.14353538] yaw=-55.7deg [env.py: 1019] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:28:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=294.4ms, total=294.4ms [env.py: 1075] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.852, -0.144) [env.py: 1079] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/12 01:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:28:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:28:39 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 01:28:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:28:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:28:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:28:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:28:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:28:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:28:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:28:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 274 non-colliding grasps [grasp_sample.py: 465] +05/12 01:28:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.307s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:28:41 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.046[m] 3.493[deg] [grasp_sample.py: 539] +05/12 01:28:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:28:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:28:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.515s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:28:43 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.766[m] 86.275[deg] [grasp_sample.py: 539] +05/12 01:28:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:28:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:28:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:28:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:28:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:28:56 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:28:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:28:56 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 01:28:58 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:28:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:28:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:28:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:28:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 385 non-colliding grasps [grasp_sample.py: 465] +05/12 01:28:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.348s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:28:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.058[m] 0.253[deg] [grasp_sample.py: 539] +05/12 01:28:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:28:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:28:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:29:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:29:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:29:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:29:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.79s (batch: 3.20s, save: 8.58s) [pipeline.py: 300] +05/12 01:29:08 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.69s: + episode_total: mean=68.09s, total=136.18s, count=2, min=224.2ms, max=135952.9ms + sensor_polling: mean=346.2ms, total=92.78s, count=268, min=298.4ms, max=716.4ms + save_trajectories: mean=8.58s, total=8.58s, count=1, min=8583.3ms, max=8583.3ms + physics_step: mean=22.7ms, total=6.08s, count=268, min=18.4ms, max=53.9ms + save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3202.1ms, max=3202.1ms + task_specific_sample: mean=455.7ms, total=911.4ms, count=2, min=220.2ms, max=691.2ms + task_sampling: mean=693.7ms, total=693.7ms, count=1, min=693.7ms, max=693.7ms + task_sampling_failed: mean=224.2ms, total=224.2ms, count=1, min=224.2ms, max=224.2ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.0ms, max=2.3ms + mj_forward_sync: mean=417.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:29:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:29:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:29:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:29:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:29:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:29:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:29:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185185m [env.py: 870] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:29:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3642113 -1.04872877 -0.18518459] yaw=-52.3deg [env.py: 1019] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:29:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.4ms [env.py: 1075] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.049, -0.185) [env.py: 1079] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 01:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:29:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:29:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:29:10 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 01:29:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 01:29:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:29:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:29:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:29:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:29:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.715[m] 86.906[deg] [grasp_sample.py: 539] +05/12 01:29:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:29:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:29:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:29:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:29:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:29:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:29:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:29:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:29:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 394 non-colliding grasps [grasp_sample.py: 465] +05/12 01:29:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.290s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:29:16 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.060[m] 0.260[deg] [grasp_sample.py: 539] +05/12 01:29:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:29:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:29:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:29:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:29:20 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:29:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:29:38 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:43 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:29:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:29:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:29:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:29:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:29:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:29:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:29:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 377 non-colliding grasps [grasp_sample.py: 465] +05/12 01:29:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.416s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:29:55 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:29:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:29:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:29:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:29:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:29:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:29:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:29:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180052m [env.py: 870] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:29:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42105525 -1.0886218 -0.18005157] yaw=-59.0deg [env.py: 1019] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43853212 -0.80113554 -0.18005157] yaw=-70.7deg [env.py: 1019] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:29:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.4ms, total=219.4ms [env.py: 1075] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -1.089, -0.180) [env.py: 1079] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 01:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:29:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:29:57 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 01:29:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:29:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:29:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:29:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:29:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:29:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.63s (batch: 4.12s, save: 10.51s) [pipeline.py: 300] +05/12 01:29:58 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=4.59s: + episode_total: mean=24.03s, total=264.30s, count=11, min=206.3ms, max=156194.6ms + sensor_polling: mean=352.5ms, total=155.81s, count=442, min=296.5ms, max=649.7ms + save_trajectories: mean=10.51s, total=10.51s, count=1, min=10512.1ms, max=10512.1ms + physics_step: mean=22.7ms, total=10.02s, count=442, min=14.8ms, max=71.9ms + task_specific_sample: mean=452.0ms, total=4.97s, count=11, min=202.9ms, max=647.8ms + task_sampling: mean=509.9ms, total=4.59s, count=9, min=377.7ms, max=651.2ms + save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4118.4ms, max=4118.4ms + task_sampling_failed: mean=207.7ms, total=415.5ms, count=2, min=206.3ms, max=209.1ms + scene_randomize: mean=1.2ms, total=12.9ms, count=11, min=1.0ms, max=2.2ms + mj_forward_sync: mean=439.4us, total=4.8ms, count=11, min=0.4ms, max=0.5ms + policy_setup: mean=14.4us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:29:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:29:59 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.625[m] 99.377[deg] [grasp_sample.py: 539] +05/12 01:29:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:29:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:29:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:29:59 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:29:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:29:59 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 01:29:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:30:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103596m [env.py: 870] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38908455 -0.86274622 -0.10359609] yaw=-48.1deg [env.py: 1019] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37330157 -0.96822859 -0.10359609] yaw=-44.4deg [env.py: 1019] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:30:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=298.6ms, total=298.6ms [env.py: 1075] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -0.863, -0.104) [env.py: 1079] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 01:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:30:00 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 01:30:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 01:30:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:30:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:30:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:30:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.522s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:30:02 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178633m [env.py: 870] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56901819 -0.79708357 -0.1786332 ] yaw=-72.7deg [env.py: 1019] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.53216036 -0.81910126 -0.1786332 ] yaw=-60.5deg [env.py: 1019] +05/12 01:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:30:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.7ms, total=246.7ms [env.py: 1075] +05/12 01:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.797, -0.179) [env.py: 1079] +05/12 01:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.7 deg [env.py: 1082] +05/12 01:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 01:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:30:04 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 01:30:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:30:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:30:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:30:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:30:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.659s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:30:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.758[m] 99.424[deg] [grasp_sample.py: 539] +05/12 01:30:07 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:30:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153050m [env.py: 870] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.9ms, total=191.9ms [env.py: 1105] +05/12 01:30:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:30:08 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:30:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130529m [env.py: 870] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.0ms, total=195.0ms [env.py: 1105] +05/12 01:30:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:30:09 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:30:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104440m [env.py: 870] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.8ms, total=210.9ms [env.py: 1105] +05/12 01:30:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:30:11 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:30:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192657m [env.py: 870] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46028469 -1.09234884 -0.19265747] yaw=-48.5deg [env.py: 1019] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21813961 -1.13385353 -0.19265747] yaw=-45.9deg [env.py: 1019] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36810479 -1.05477651 -0.19265747] yaw=-45.8deg [env.py: 1019] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:30:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.0ms, total=212.1ms [env.py: 1075] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.092, -0.193) [env.py: 1079] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/12 01:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:30:12 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 01:30:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:30:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:30:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.50s (batch: 3.73s, save: 9.77s) [pipeline.py: 300] +05/12 01:30:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:30:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:30:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:30:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:30:13 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=7.41s: + episode_total: mean=9.31s, total=214.14s, count=23, min=193.6ms, max=164470.0ms + sensor_polling: mean=413.4ms, total=116.99s, count=283, min=320.7ms, max=560.9ms + save_trajectories: mean=9.77s, total=9.77s, count=1, min=9773.0ms, max=9773.0ms + task_specific_sample: mean=418.9ms, total=9.64s, count=23, min=190.9ms, max=937.5ms + task_sampling: mean=494.1ms, total=7.41s, count=15, min=365.1ms, max=940.0ms + physics_step: mean=24.6ms, total=6.95s, count=283, min=15.0ms, max=72.9ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3725.9ms, max=3725.9ms + task_sampling_failed: mean=287.1ms, total=2.30s, count=8, min=193.6ms, max=677.1ms + scene_randomize: mean=1.2ms, total=27.5ms, count=23, min=0.9ms, max=2.7ms + mj_forward_sync: mean=418.5us, total=9.6ms, count=23, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.2ms, count=15, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=23, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:30:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.870s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:30:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.576[m] 85.627[deg] [grasp_sample.py: 539] +05/12 01:30:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:30:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:30:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:30:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:30:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125195m [env.py: 870] +05/12 01:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=360.0ms, total=360.1ms [env.py: 1105] +05/12 01:30:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:30:15 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:30:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117321m [env.py: 870] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=560.7ms, total=560.7ms [env.py: 1105] +05/12 01:30:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:30:17 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:30:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:30:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186614m [env.py: 870] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44140862 -1.09844009 -0.18661447] yaw=-40.5deg [env.py: 1019] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44281943 -0.97789306 -0.18661447] yaw=-67.0deg [env.py: 1019] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:30:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=418.1ms, total=418.1ms [env.py: 1075] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -1.098, -0.187) [env.py: 1079] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg [env.py: 1082] +05/12 01:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:30:19 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 01:30:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 01:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:30:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:30:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:30:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.769s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:30:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.644[m] 90.688[deg] [grasp_sample.py: 539] +05/12 01:30:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:30:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:30:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:30:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:30:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:30:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:30:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:30:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:30:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:30:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.392s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:30:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.413[m] 55.607[deg] [grasp_sample.py: 539] +05/12 01:30:44 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:30:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166620m [env.py: 870] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.6ms, total=205.6ms [env.py: 1105] +05/12 01:30:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:30:45 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:30:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:30:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:30:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:30:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:30:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:30:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187548m [env.py: 870] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:30:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60685522 -0.99973362 -0.18754816] yaw=-70.6deg [env.py: 1019] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:30:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.9ms, total=265.9ms [env.py: 1075] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -1.000, -0.188) [env.py: 1079] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/12 01:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:30:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:30:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:30:47 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 01:30:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 01:30:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:30:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:30:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:30:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:30:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.633s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:30:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.612[m] 88.057[deg] [grasp_sample.py: 539] +05/12 01:30:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:30:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:30:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:30:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:30:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:30:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:30:59 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:31:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:31:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:31:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:31:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:31:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.174s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:31:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.446[m] 58.687[deg] [grasp_sample.py: 539] +05/12 01:31:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:31:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:31:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:31:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:31:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:31:19 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 01:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:31:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:31:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:31:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:31:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:31:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:31:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:31:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:31:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:31:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:31:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.19s (batch: 3.90s, save: 11.28s) [pipeline.py: 300] +05/12 01:31:35 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s: + episode_total: mean=145.98s, total=145.98s, count=1, min=145975.9ms, max=145975.9ms + sensor_polling: mean=352.0ms, total=97.50s, count=277, min=294.7ms, max=579.3ms + save_trajectories: mean=11.28s, total=11.28s, count=1, min=11284.2ms, max=11284.2ms + physics_step: mean=23.2ms, total=6.43s, count=277, min=19.6ms, max=45.1ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3903.6ms, max=3903.6ms + task_sampling: mean=417.2ms, total=417.2ms, count=1, min=417.2ms, max=417.2ms + task_specific_sample: mean=413.5ms, total=413.5ms, count=1, min=413.5ms, max=413.5ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=417.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:31:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.024s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:31:35 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.484[m] 59.145[deg] [grasp_sample.py: 539] +05/12 01:31:36 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:31:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:31:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:31:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:31:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:31:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128458m [env.py: 870] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36414529 -1.12196386 -0.12845777] yaw=-44.1deg [env.py: 1019] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=238.3ms, total=238.4ms [env.py: 1075] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.122, -0.128) [env.py: 1079] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/12 01:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:31:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:31:37 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 01:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 01:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:31:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:31:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:31:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:31:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:31:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:31:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:31:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:31:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:31:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189485m [env.py: 870] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:31:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52164974 -0.94355948 -0.1894852 ] yaw=-68.7deg [env.py: 1019] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43492669 -1.01664732 -0.1894852 ] yaw=-56.1deg [env.py: 1019] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:31:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.0ms, total=234.1ms [env.py: 1075] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -0.944, -0.189) [env.py: 1079] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg [env.py: 1082] +05/12 01:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:31:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:31:38 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 01:31:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 01:31:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:31:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:31:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:31:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.754s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:31:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.695[m] 85.056[deg] [grasp_sample.py: 539] +05/12 01:31:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:31:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:31:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:31:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.562s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:31:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.632[m] 89.293[deg] [grasp_sample.py: 539] +05/12 01:31:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:31:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:31:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:31:43 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:32:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:32:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:32:05 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/12 01:32:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:32:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:32:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.49s (batch: 3.38s, save: 8.11s) [pipeline.py: 300] +05/12 01:32:17 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=3.01s: + episode_total: mean=36.94s, total=332.46s, count=9, min=205.5ms, max=140251.9ms + sensor_polling: mean=350.0ms, total=211.07s, count=603, min=293.3ms, max=697.3ms + physics_step: mean=22.6ms, total=13.62s, count=603, min=14.8ms, max=60.0ms + save_trajectories: mean=8.11s, total=8.11s, count=1, min=8107.7ms, max=8107.7ms + task_specific_sample: mean=378.9ms, total=3.41s, count=9, min=201.5ms, max=508.5ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3384.8ms, max=3384.8ms + task_sampling: mean=429.5ms, total=3.01s, count=7, min=304.6ms, max=512.4ms + task_sampling_failed: mean=216.3ms, total=432.5ms, count=2, min=205.5ms, max=227.0ms + scene_randomize: mean=1.4ms, total=12.9ms, count=9, min=1.0ms, max=2.4ms + mj_forward_sync: mean=479.9us, total=4.3ms, count=9, min=0.4ms, max=0.7ms + policy_setup: mean=17.5us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:32:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:32:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:32:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:32:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:32:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:32:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:32:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139518m [env.py: 870] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:32:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31722035 -0.93030583 -0.13951792] yaw=-54.4deg [env.py: 1019] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34900268 -1.00708412 -0.13951792] yaw=-43.6deg [env.py: 1019] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49679804 -0.90995956 -0.13951792] yaw=-62.1deg [env.py: 1019] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:32:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.7ms, total=126.7ms [env.py: 1075] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.317, -0.930, -0.140) [env.py: 1079] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 01:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:32:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:32:18 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 01:32:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 01:32:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:32:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:32:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:32:19 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:32:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.108s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:32:26 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:32:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:32:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:32:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:32:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:32:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:32:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:32:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175978m [env.py: 870] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:32:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48042605 -0.99603344 -0.17597793] yaw=-51.0deg [env.py: 1019] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:32:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.8ms, total=222.8ms [env.py: 1075] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.996, -0.176) [env.py: 1079] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 01:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:32:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:32:27 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 01:32:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:32:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:32:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:32:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:32:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.459s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:32:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.689[m] 86.109[deg] [grasp_sample.py: 539] +05/12 01:32:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:32:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:32:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:32:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:32:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:32:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:32:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:32:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:32:40 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 01:32:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:32:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:32:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:32:50 INFO: [Worker 0] Object is not in grasp! 0.00021 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:32:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:32:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:32:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:32:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 503 non-colliding grasps [grasp_sample.py: 465] +05/12 01:32:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:32:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:32:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.16s (batch: 3.42s, save: 8.74s) [pipeline.py: 300] +05/12 01:32:52 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.65s: + episode_total: mean=51.76s, total=155.27s, count=3, min=371.8ms, max=154323.5ms + sensor_polling: mean=391.8ms, total=104.61s, count=267, min=317.4ms, max=567.7ms + save_trajectories: mean=8.74s, total=8.74s, count=1, min=8738.8ms, max=8738.8ms + physics_step: mean=23.7ms, total=6.33s, count=267, min=19.7ms, max=59.5ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3420.3ms, max=3420.3ms + task_specific_sample: mean=526.8ms, total=1.58s, count=3, min=367.3ms, max=647.8ms + task_sampling_failed: mean=474.2ms, total=948.4ms, count=2, min=371.8ms, max=576.6ms + task_sampling: mean=649.9ms, total=649.9ms, count=1, min=649.9ms, max=649.9ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=485.9us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:32:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:32:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:32:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:32:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:32:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:32:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:32:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114488m [env.py: 870] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:32:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41932266 -1.04365361 -0.11448849] yaw=-51.6deg [env.py: 1019] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:32:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=173.2ms, total=173.2ms [env.py: 1075] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -1.044, -0.114) [env.py: 1079] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 01:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:32:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:32:54 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 01:32:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 01:32:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:32:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:32:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.058s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:32:54 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.069[m] 13.317[deg] [grasp_sample.py: 539] +05/12 01:32:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:32:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:32:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:32:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:32:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.687s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:32:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.705[m] 82.938[deg] [grasp_sample.py: 539] +05/12 01:32:58 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:32:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:32:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:32:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:32:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:32:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190207m [env.py: 870] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42298204 -1.06424331 -0.19020693] yaw=-59.3deg [env.py: 1019] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1075] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -1.064, -0.190) [env.py: 1079] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 01:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:33:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:33:00 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 01:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 01:33:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:33:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:33:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:33:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:33:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.565s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:33:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.622[m] 92.004[deg] [grasp_sample.py: 539] +05/12 01:33:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:33:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:33:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:33:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:33:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:33:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:33:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:33:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:33:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:33:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:33:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 351 non-colliding grasps [grasp_sample.py: 465] +05/12 01:33:21 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:33:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:33:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:33:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:33:28 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.136[m] 5.097[deg] [grasp_sample.py: 539] +05/12 01:33:29 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:33:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:33:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:33:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:33:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:33:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:33:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:33:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195739m [env.py: 870] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:33:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26253074 -0.99661179 -0.19573875] yaw=-37.6deg [env.py: 1019] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:33:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=550.6ms, total=550.7ms [env.py: 1075] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -0.997, -0.196) [env.py: 1079] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg [env.py: 1082] +05/12 01:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:33:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:33:32 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 01:33:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:33:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:33:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:33:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:33:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:33:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:33:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:33:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:33:40 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 01:33:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.701s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:33:43 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.712[m] 92.118[deg] [grasp_sample.py: 539] +05/12 01:33:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:33:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:33:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:33:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:33:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:33:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:33:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.45s (batch: 3.27s, save: 10.18s) [pipeline.py: 300] +05/12 01:33:54 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s: + episode_total: mean=137.33s, total=137.33s, count=1, min=137334.9ms, max=137334.9ms + sensor_polling: mean=329.8ms, total=91.02s, count=276, min=298.2ms, max=499.7ms + save_trajectories: mean=10.18s, total=10.18s, count=1, min=10180.8ms, max=10180.8ms + physics_step: mean=22.1ms, total=6.10s, count=276, min=14.9ms, max=33.2ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3272.4ms, max=3272.4ms + task_sampling: mean=459.8ms, total=459.8ms, count=1, min=459.8ms, max=459.8ms + task_specific_sample: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=613.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:33:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:33:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:33:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:33:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:33:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:33:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:33:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161156m [env.py: 870] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:33:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5233074 -0.99829009 -0.16115599] yaw=-64.5deg [env.py: 1019] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.08457657 -1.06700155 -0.16115599] yaw=-27.9deg [env.py: 1019] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:33:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=237.5ms, total=237.5ms [env.py: 1075] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.998, -0.161) [env.py: 1079] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg [env.py: 1082] +05/12 01:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:33:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:33:56 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 01:33:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 01:33:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:33:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:33:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:33:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:33:57 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.641[m] 88.164[deg] [grasp_sample.py: 539] +05/12 01:33:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:33:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:33:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:34:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:18 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:34:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:34:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:34:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:34:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/12 01:34:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:34:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:34:35 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 01:34:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.492s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:34:37 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.126[m] 4.695[deg] [grasp_sample.py: 539] +05/12 01:34:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:34:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:34:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:34:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:34:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:34:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.34s (batch: 3.10s, save: 10.24s) [pipeline.py: 300] +05/12 01:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:34:49 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.79s: + episode_total: mean=74.82s, total=149.64s, count=2, min=7628.6ms, max=142014.8ms + sensor_polling: mean=333.9ms, total=91.82s, count=275, min=298.2ms, max=593.4ms + save_trajectories: mean=10.24s, total=10.24s, count=1, min=10238.8ms, max=10238.8ms + physics_step: mean=22.2ms, total=6.11s, count=275, min=19.7ms, max=33.8ms + save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3104.9ms, max=3104.9ms + task_sampling: mean=395.0ms, total=790.0ms, count=2, min=340.6ms, max=449.4ms + task_specific_sample: mean=391.7ms, total=783.5ms, count=2, min=336.7ms, max=446.8ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.6ms + mj_forward_sync: mean=429.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:34:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:34:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:34:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:34:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:34:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:34:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:34:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:34:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:34:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:34:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:34:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151267m [env.py: 870] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:34:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5547668 -0.96909435 -0.15126714] yaw=-69.4deg [env.py: 1019] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:34:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=211.1ms, total=211.1ms [env.py: 1075] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.969, -0.151) [env.py: 1079] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg [env.py: 1082] +05/12 01:34:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:34:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:34:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:34:51 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 01:34:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 01:34:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:34:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:34:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:34:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:34:52 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.200[m] 20.647[deg] [grasp_sample.py: 539] +05/12 01:34:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:34:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.397s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:34:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.645[m] 98.288[deg] [grasp_sample.py: 539] +05/12 01:34:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:34:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:34:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:34:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:34:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:35:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:03 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:35:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:35:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.595s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:05 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.050[m] 5.555[deg] [grasp_sample.py: 539] +05/12 01:35:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:35:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:35:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:35:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:35:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.486[m] 68.960[deg] [grasp_sample.py: 539] +05/12 01:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:35:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:35:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:35:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 399 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.385s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:20 INFO: [Worker 0] Feasible grasp found 280 (originally 280): w/ 0.082[m] 0.685[deg] [grasp_sample.py: 539] +05/12 01:35:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:35:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:35:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:35:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:24 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:35:24 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=0.83s: + episode_total: mean=74.70s, total=149.40s, count=2, min=4365.0ms, max=145031.1ms + sensor_polling: mean=387.1ms, total=116.12s, count=300, min=324.8ms, max=614.6ms + physics_step: mean=23.1ms, total=6.93s, count=300, min=15.4ms, max=85.1ms + task_sampling: mean=414.9ms, total=829.7ms, count=2, min=411.2ms, max=418.5ms + task_specific_sample: mean=411.6ms, total=823.3ms, count=2, min=408.4ms, max=414.9ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=428.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:35:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 313 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:25 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195180m [env.py: 870] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47950199 -0.76562217 -0.19518004] yaw=-59.0deg [env.py: 1019] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.7ms [env.py: 1075] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.766, -0.195) [env.py: 1079] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:35:26 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 01:35:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:35:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:27 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.099[m] 2.691[deg] [grasp_sample.py: 539] +05/12 01:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:35:28 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:35:28 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147646m [env.py: 870] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.1ms, total=197.2ms [env.py: 1105] +05/12 01:35:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:35:29 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150412m [env.py: 870] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46177976 -0.97534696 -0.15041162] yaw=-54.4deg [env.py: 1019] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.3ms, total=180.4ms [env.py: 1075] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.975, -0.150) [env.py: 1079] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:35:30 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 01:35:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:35:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:35:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153184m [env.py: 870] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52740618 -0.84415245 -0.1531843 ] yaw=-66.4deg [env.py: 1019] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.5ms [env.py: 1075] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.844, -0.153) [env.py: 1079] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg [env.py: 1082] +05/12 01:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.283s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:35:31 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 01:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 01:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.598s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.683[m] 93.819[deg] [grasp_sample.py: 539] +05/12 01:35:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.482[m] 68.184[deg] [grasp_sample.py: 539] +05/12 01:35:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:35:33 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:35:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:35:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151809m [env.py: 870] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.6ms, total=202.6ms [env.py: 1105] +05/12 01:35:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:35:34 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.819s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.741[m] 87.762[deg] [grasp_sample.py: 539] +05/12 01:35:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:35:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:35:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155192m [env.py: 870] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5821012 -0.76321348 -0.155192 ] yaw=-71.0deg [env.py: 1019] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:35:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.2ms, total=195.2ms [env.py: 1075] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.763, -0.155) [env.py: 1079] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.0 deg [env.py: 1082] +05/12 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:35:36 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 01:35:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.433s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:35:38 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140270m [env.py: 870] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39630775 -0.81733483 -0.14027048] yaw=-56.5deg [env.py: 1019] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:35:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms [env.py: 1075] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -0.817, -0.140) [env.py: 1079] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/12 01:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:35:39 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 01:35:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:35:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.291s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:35:41 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108192m [env.py: 870] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25759941 -1.16049853 -0.10819155] yaw=-40.6deg [env.py: 1019] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:35:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.0ms [env.py: 1075] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -1.160, -0.108) [env.py: 1079] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 01:35:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:35:43 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 01:35:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:35:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.415s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.699[m] 85.852[deg] [grasp_sample.py: 539] +05/12 01:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:35:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:35:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:45 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:35:45 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 01:35:46 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:35:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:35:46 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 01:35:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.482[m] 68.185[deg] [grasp_sample.py: 539] +05/12 01:35:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:35:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131612m [env.py: 870] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:35:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47795977 -0.9574811 -0.13161171] yaw=-51.2deg [env.py: 1019] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45784986 -0.7894255 -0.13161171] yaw=-71.0deg [env.py: 1019] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:35:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.8ms [env.py: 1075] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.478, -0.957, -0.132) [env.py: 1079] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 01:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:35:47 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 01:35:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 01:35:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:35:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:35:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.845s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:35:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.675[m] 90.744[deg] [grasp_sample.py: 539] +05/12 01:35:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:35:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:35:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:35:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:35:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:35:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:35:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:35:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:35:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.18s (batch: 3.57s, save: 8.60s) [pipeline.py: 300] +05/12 01:35:58 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:35:58 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=False episode_total=0.48s: + episode_total: mean=67.64s, total=67.64s, count=1, min=67642.1ms, max=67642.1ms + sensor_polling: mean=327.5ms, total=24.56s, count=75, min=303.9ms, max=472.3ms + physics_step: mean=19.2ms, total=1.44s, count=75, min=13.4ms, max=24.7ms + task_sampling: mean=477.7ms, total=477.7ms, count=1, min=477.7ms, max=477.7ms + task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=614.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:35:58 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=3.35s: + episode_total: mean=34.71s, total=347.11s, count=10, min=200.2ms, max=147666.2ms + sensor_polling: mean=349.3ms, total=210.64s, count=603, min=295.9ms, max=641.8ms + physics_step: mean=22.6ms, total=13.62s, count=603, min=13.1ms, max=39.4ms + save_trajectories: mean=8.60s, total=8.60s, count=1, min=8602.1ms, max=8602.1ms + task_specific_sample: mean=415.7ms, total=4.16s, count=10, min=196.7ms, max=873.3ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3573.4ms, max=3573.4ms + task_sampling: mean=558.4ms, total=3.35s, count=6, min=427.0ms, max=876.3ms + task_sampling_failed: mean=208.8ms, total=835.1ms, count=4, min=200.2ms, max=218.5ms + scene_randomize: mean=1.2ms, total=11.6ms, count=10, min=0.9ms, max=1.8ms + mj_forward_sync: mean=422.2us, total=4.2ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=13.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:35:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:35:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:35:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:35:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:35:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:35:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:35:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167801m [env.py: 870] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:35:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.7ms, total=224.8ms [env.py: 1105] +05/12 01:36:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:36:00 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:36:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157996m [env.py: 870] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.507773 -0.78816944 -0.15799637] yaw=-71.5deg [env.py: 1019] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39301764 -1.12051642 -0.15799637] yaw=-50.9deg [env.py: 1019] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.9ms, total=328.9ms [env.py: 1075] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.788, -0.158) [env.py: 1079] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg [env.py: 1082] +05/12 01:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:00 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120788m [env.py: 870] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1105] +05/12 01:36:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:36:01 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:36:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.457s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:36:02 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193253m [env.py: 870] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29766694 -0.92700639 -0.19325341] yaw=-44.9deg [env.py: 1019] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29384681 -1.17487822 -0.19325341] yaw=-35.5deg [env.py: 1019] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.7ms, total=212.7ms [env.py: 1075] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.927, -0.193) [env.py: 1079] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/12 01:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:03 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163620m [env.py: 870] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=409.2ms, total=409.2ms [env.py: 1105] +05/12 01:36:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:36:04 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:36:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144557m [env.py: 870] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61175767 -0.94841066 -0.14455653] yaw=-59.7deg [env.py: 1019] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27278602 -0.89775775 -0.14455653] yaw=-55.2deg [env.py: 1019] +05/12 01:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/12 01:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.948, -0.145) [env.py: 1079] +05/12 01:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 01:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/12 01:36:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:06 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 83.698[deg] [grasp_sample.py: 539] +05/12 01:36:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:36:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:36:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:36:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:36:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.264s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:08 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.755[m] 80.643[deg] [grasp_sample.py: 539] +05/12 01:36:09 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:36:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150077m [env.py: 870] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35348602 -1.03791571 -0.15007668] yaw=-38.7deg [env.py: 1019] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.5ms, total=232.5ms [env.py: 1075] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -1.038, -0.150) [env.py: 1079] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg [env.py: 1082] +05/12 01:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:11 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.096s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.739[m] 88.115[deg] [grasp_sample.py: 539] +05/12 01:36:14 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:36:14 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 01:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195094m [env.py: 870] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.9ms, total=196.9ms [env.py: 1105] +05/12 01:36:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:36:16 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:36:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108786m [env.py: 870] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29914385 -0.94026579 -0.10878579] yaw=-60.3deg [env.py: 1019] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.1ms [env.py: 1075] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.940, -0.109) [env.py: 1079] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.3 deg [env.py: 1082] +05/12 01:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:18 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:36:19 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:36:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185784m [env.py: 870] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=239.0ms, total=239.0ms [env.py: 1105] +05/12 01:36:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:36:21 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:36:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140091m [env.py: 870] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21389294 -1.17286357 -0.14009072] yaw=-44.8deg [env.py: 1019] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.8ms, total=263.8ms [env.py: 1075] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.173, -0.140) [env.py: 1079] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/12 01:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:22 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.664s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:27 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.678[m] 88.714[deg] [grasp_sample.py: 539] +05/12 01:36:28 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:36:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113641m [env.py: 870] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15590319 -1.07413055 -0.11364053] yaw=-34.1deg [env.py: 1019] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41164386 -0.95795139 -0.11364053] yaw=-52.2deg [env.py: 1019] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=434.2ms, total=434.3ms [env.py: 1075] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.074, -0.114) [env.py: 1079] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/12 01:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:30 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:36:32 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:36:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:36:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:36:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:36:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:36:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:36:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146034m [env.py: 870] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:36:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46710414 -1.05437876 -0.14603369] yaw=-48.1deg [env.py: 1019] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28670543 -1.12140403 -0.14603369] yaw=-44.5deg [env.py: 1019] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:36:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.0ms, total=336.0ms [env.py: 1075] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -1.054, -0.146) [env.py: 1079] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 01:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:36:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:36:34 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 01:36:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:36:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.406s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.635[m] 81.646[deg] [grasp_sample.py: 539] +05/12 01:36:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:36:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:36:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:36:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:36:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.871s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:46 INFO: [Worker 0] Feasible grasp found 533 (originally 533): w/ 0.067[m] 19.004[deg] [grasp_sample.py: 539] +05/12 01:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:36:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:36:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:36:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 406 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.416s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:52 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.066[m] 25.227[deg] [grasp_sample.py: 539] +05/12 01:36:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:36:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:36:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:36:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:36:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:36:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:36:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:36:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 474 non-colliding grasps [grasp_sample.py: 465] +05/12 01:36:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:36:54 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.101[m] 40.680[deg] [grasp_sample.py: 539] +05/12 01:36:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:36:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:36:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:37:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:37:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:37:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:37:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:37:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:37:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/12 01:37:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:37:30 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.721[deg] [grasp_sample.py: 539] +05/12 01:37:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:37:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:37:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:37:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:37:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:37:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:37:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:37:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.479s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:37:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.140[m] 13.234[deg] [grasp_sample.py: 539] +05/12 01:37:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:37:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:37:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:45 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:53 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:37:53 INFO: [Worker 0] Object is not in grasp! 0.00098 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:37:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:37:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:37:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:37:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 01:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:37:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.590[deg] [grasp_sample.py: 539] +05/12 01:37:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:37:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:37:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:37:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:37:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:37:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:37:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:37:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.468s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:37:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.140[m] 13.232[deg] [grasp_sample.py: 539] +05/12 01:37:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:37:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:37:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:37:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:05 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:38:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:38:05 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 01:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:38:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:38:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:38:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.140[m] 13.232[deg] [grasp_sample.py: 539] +05/12 01:38:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:38:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:38:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:38:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:38:13 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/12 01:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:15 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:38:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:38:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.87s (batch: 3.26s, save: 9.61s) [pipeline.py: 300] +05/12 01:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:19 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.88s: + episode_total: mean=56.76s, total=170.29s, count=3, min=207.0ms, max=168044.6ms + sensor_polling: mean=362.1ms, total=105.38s, count=291, min=319.2ms, max=597.7ms + save_trajectories: mean=9.61s, total=9.61s, count=1, min=9610.4ms, max=9610.4ms + physics_step: mean=22.2ms, total=6.47s, count=291, min=15.4ms, max=51.1ms + save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3258.8ms, max=3258.8ms + task_specific_sample: mean=358.0ms, total=1.07s, count=3, min=202.3ms, max=454.1ms + task_sampling: mean=437.9ms, total=875.9ms, count=2, min=419.6ms, max=456.3ms + task_sampling_failed: mean=207.0ms, total=207.0ms, count=1, min=207.0ms, max=207.0ms + scene_randomize: mean=1.0ms, total=3.0ms, count=3, min=1.0ms, max=1.0ms + mj_forward_sync: mean=397.4us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:38:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:38:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106743m [env.py: 870] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38059989 -1.15059501 -0.10674339] yaw=-37.3deg [env.py: 1019] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=182.1ms, total=182.2ms [env.py: 1075] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -1.151, -0.107) [env.py: 1079] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/12 01:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:20 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:38:20 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=3.09s: + episode_total: mean=12.92s, total=129.20s, count=10, min=204.8ms, max=107131.5ms + sensor_polling: mean=410.7ms, total=57.50s, count=140, min=305.6ms, max=596.8ms + task_specific_sample: mean=396.4ms, total=3.96s, count=10, min=201.8ms, max=630.9ms + physics_step: mean=23.4ms, total=3.28s, count=140, min=12.9ms, max=29.4ms + task_sampling: mean=515.2ms, total=3.09s, count=6, min=449.8ms, max=633.8ms + task_sampling_failed: mean=225.3ms, total=901.2ms, count=4, min=204.8ms, max=246.9ms + scene_randomize: mean=1.2ms, total=11.9ms, count=10, min=1.0ms, max=1.5ms + mj_forward_sync: mean=418.6us, total=4.2ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:38:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:20 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154133m [env.py: 870] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4953005 -0.80161058 -0.15413338] yaw=-59.4deg [env.py: 1019] +05/12 01:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43409236 -0.98002375 -0.15413338] yaw=-46.1deg [env.py: 1019] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=306.5ms, total=306.5ms [env.py: 1075] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -0.802, -0.154) [env.py: 1079] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 01:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 01:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:22 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.926s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:38:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.646[m] 92.299[deg] [grasp_sample.py: 539] +05/12 01:38:23 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:38:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.547s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171287m [env.py: 870] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=166.7ms, total=166.8ms [env.py: 1105] +05/12 01:38:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:38:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130581m [env.py: 870] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6191254 -0.85939639 -0.13058125] yaw=-68.5deg [env.py: 1019] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46159909 -0.91223543 -0.13058125] yaw=-54.3deg [env.py: 1019] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:38:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.0ms [env.py: 1075] +05/12 01:38:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.859, -0.131) [env.py: 1079] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 01:38:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140668m [env.py: 870] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64267279 -0.86027075 -0.14066828] yaw=-67.7deg [env.py: 1019] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:38:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:38:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.53s (batch: 3.44s, save: 10.10s) [pipeline.py: 300] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.9ms, total=241.9ms [env.py: 1075] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.643, -0.860, -0.141) [env.py: 1079] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 01:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:27 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:27 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:27 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=2.67s: + episode_total: mean=37.74s, total=264.17s, count=7, min=211.0ms, max=160288.9ms + sensor_polling: mean=328.5ms, total=156.04s, count=475, min=294.8ms, max=507.4ms + physics_step: mean=21.8ms, total=10.37s, count=475, min=14.7ms, max=60.0ms + save_trajectories: mean=10.10s, total=10.10s, count=1, min=10095.7ms, max=10095.7ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3435.9ms, max=3435.9ms + task_specific_sample: mean=408.8ms, total=2.86s, count=7, min=207.3ms, max=529.4ms + task_sampling: mean=444.8ms, total=2.67s, count=6, min=376.0ms, max=532.8ms + task_sampling_failed: mean=211.0ms, total=211.0ms, count=1, min=211.0ms, max=211.0ms + scene_randomize: mean=1.2ms, total=8.3ms, count=7, min=0.9ms, max=2.2ms + mj_forward_sync: mean=405.8us, total=2.8ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102972m [env.py: 870] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.9ms, total=208.0ms [env.py: 1105] +05/12 01:38:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:38:29 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:38:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:38:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.707[m] 82.781[deg] [grasp_sample.py: 539] +05/12 01:38:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:38:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109383m [env.py: 870] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49460617 -0.95695947 -0.10938336] yaw=-63.7deg [env.py: 1019] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46879462 -0.88231377 -0.10938336] yaw=-68.4deg [env.py: 1019] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:38:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:38:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21162736 -1.04566168 -0.10938336] yaw=-52.6deg [env.py: 1019] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1075] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -0.957, -0.109) [env.py: 1079] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/12 01:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:30 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:38:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:38:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:38:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:38:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.945s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:38:37 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.712[m] 82.805[deg] [grasp_sample.py: 539] +05/12 01:38:38 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:38:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.445s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:38:38 INFO: [Worker 0] Feasible grasp found 372 (originally 372): w/ 0.744[m] 82.074[deg] [grasp_sample.py: 539] +05/12 01:38:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:38:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:38:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173953m [env.py: 870] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1105] +05/12 01:38:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:38:39 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:38:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185915m [env.py: 870] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.63954928 -0.97450958 -0.18591476] yaw=-62.1deg [env.py: 1019] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.0ms [env.py: 1075] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.640, -0.975, -0.186) [env.py: 1079] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.1 deg [env.py: 1082] +05/12 01:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:41 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.976s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:38:43 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.595[m] 91.125[deg] [grasp_sample.py: 539] +05/12 01:38:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:38:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:38:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:38:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:38:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:38:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.83s (batch: 3.88s, save: 9.95s) [pipeline.py: 300] +05/12 01:38:50 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=1.02s: + episode_total: mean=55.87s, total=167.61s, count=3, min=417.9ms, max=164925.5ms + sensor_polling: mean=378.9ms, total=113.67s, count=300, min=298.5ms, max=593.5ms + save_trajectories: mean=9.95s, total=9.95s, count=1, min=9954.9ms, max=9954.9ms + physics_step: mean=25.0ms, total=7.49s, count=300, min=15.0ms, max=74.9ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3878.6ms, max=3878.6ms + task_specific_sample: mean=477.0ms, total=1.43s, count=3, min=414.2ms, max=596.0ms + task_sampling: mean=511.3ms, total=1.02s, count=2, min=423.1ms, max=599.5ms + task_sampling_failed: mean=417.9ms, total=417.9ms, count=1, min=417.9ms, max=417.9ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=404.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:38:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186764m [env.py: 870] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.4ms, total=214.4ms [env.py: 1105] +05/12 01:38:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:38:52 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:38:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127045m [env.py: 870] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37946439 -0.80847612 -0.127045 ] yaw=-64.6deg [env.py: 1019] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47830408 -0.99498323 -0.127045 ] yaw=-67.5deg [env.py: 1019] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=321.2ms, total=321.3ms [env.py: 1075] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -0.808, -0.127) [env.py: 1079] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 01:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:54 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:38:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:38:55 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:38:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:38:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:38:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:38:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:38:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:38:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142836m [env.py: 870] +05/12 01:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:38:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51300912 -0.89418993 -0.14283572] yaw=-59.3deg [env.py: 1019] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58196782 -0.82799536 -0.14283572] yaw=-58.8deg [env.py: 1019] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23167462 -1.10120632 -0.14283572] yaw=-40.8deg [env.py: 1019] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:38:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=791.7ms, total=791.7ms [env.py: 1075] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.894, -0.143) [env.py: 1079] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 01:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 01:38:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:38:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:38:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:38:57 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 01:38:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:38:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:38:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.528s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.710[m] 90.452[deg] [grasp_sample.py: 539] +05/12 01:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:01 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101503m [env.py: 870] +05/12 01:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56803979 -0.87554318 -0.10150305] yaw=-73.0deg [env.py: 1019] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:39:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.8ms, total=209.8ms [env.py: 1075] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -0.876, -0.102) [env.py: 1079] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.0 deg [env.py: 1082] +05/12 01:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 01:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:39:03 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 01:39:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:39:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.747[m] 101.329[deg] [grasp_sample.py: 539] +05/12 01:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:39:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:39:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:39:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:39:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:39:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.060[m] 2.637[deg] [grasp_sample.py: 539] +05/12 01:39:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.375s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.595[m] 73.803[deg] [grasp_sample.py: 539] +05/12 01:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:39:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:39:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:39:39 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:39:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:39:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124539m [env.py: 870] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39896278 -0.90401643 -0.12453917] yaw=-53.0deg [env.py: 1019] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:39:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=208.9ms [env.py: 1075] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -0.904, -0.125) [env.py: 1079] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 01:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 01:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:39:41 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 01:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:39:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:39:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.862s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:42 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.172[m] 11.107[deg] [grasp_sample.py: 539] +05/12 01:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:43 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:39:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.591s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:43 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.747[m] 81.972[deg] [grasp_sample.py: 539] +05/12 01:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183048m [env.py: 870] +05/12 01:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21521432 -1.03439216 -0.183048 ] yaw=-52.7deg [env.py: 1019] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:45 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:39:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=212.0ms [env.py: 1075] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -1.034, -0.183) [env.py: 1079] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 01:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 01:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:39:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:39:45 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 01:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 01:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123341m [env.py: 870] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42083807 -1.07480073 -0.12334084] yaw=-44.8deg [env.py: 1019] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:39:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.9ms, total=228.0ms [env.py: 1075] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -1.075, -0.123) [env.py: 1079] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/12 01:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:39:46 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 01:39:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 01:39:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.268s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.692[m] 96.433[deg] [grasp_sample.py: 539] +05/12 01:39:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:39:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:39:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:39:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.763s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:50 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.742[m] 82.054[deg] [grasp_sample.py: 539] +05/12 01:39:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:39:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:39:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:39:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:39:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:39:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:39:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:39:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:39:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.595[m] 73.803[deg] [grasp_sample.py: 539] +05/12 01:39:53 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136999m [env.py: 870] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.1ms, total=210.1ms [env.py: 1105] +05/12 01:39:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:39:54 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:39:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107009m [env.py: 870] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.5ms, total=200.6ms [env.py: 1105] +05/12 01:39:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:39:56 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187871m [env.py: 870] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.0ms, total=192.0ms [env.py: 1105] +05/12 01:39:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:39:57 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:39:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:39:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:39:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127921m [env.py: 870] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43378965 -1.10201335 -0.12792133] yaw=-39.4deg [env.py: 1019] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:39:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.4ms, total=194.4ms [env.py: 1075] +05/12 01:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.102, -0.128) [env.py: 1079] +05/12 01:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg [env.py: 1082] +05/12 01:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 01:39:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:39:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:39:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:39:59 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 01:39:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 01:39:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:39:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:39:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:40:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.289s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:40:08 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.693[m] 77.067[deg] [grasp_sample.py: 539] +05/12 01:40:10 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159307m [env.py: 870] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=529.5ms, total=529.5ms [env.py: 1105] +05/12 01:40:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:40:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180105m [env.py: 870] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=572.8ms, total=572.9ms [env.py: 1105] +05/12 01:40:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:40:14 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:40:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108339m [env.py: 870] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1105] +05/12 01:40:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:40:15 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:40:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176439m [env.py: 870] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=197.5ms, total=197.5ms [env.py: 1105] +05/12 01:40:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:40:17 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:40:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174646m [env.py: 870] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41051125 -0.88004208 -0.17464599] yaw=-60.8deg [env.py: 1019] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:40:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=181.1ms, total=181.2ms [env.py: 1075] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -0.880, -0.175) [env.py: 1079] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg [env.py: 1082] +05/12 01:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:40:19 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 01:40:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:40:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:40:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:40:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:40:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.138s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:40:25 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.766[m] 93.806[deg] [grasp_sample.py: 539] +05/12 01:40:26 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:40:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185289m [env.py: 870] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53020425 -0.78673821 -0.1852891 ] yaw=-70.8deg [env.py: 1019] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28875239 -0.92125089 -0.1852891 ] yaw=-51.5deg [env.py: 1019] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48733324 -0.89260164 -0.1852891 ] yaw=-62.6deg [env.py: 1019] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:40:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=188.9ms [env.py: 1075] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.787, -0.185) [env.py: 1079] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg [env.py: 1082] +05/12 01:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:40:28 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 01:40:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 01:40:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:40:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:40:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:40:35 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:40:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:40:41 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.770[m] 102.995[deg] [grasp_sample.py: 539] +05/12 01:40:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:40:42 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:40:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105536m [env.py: 870] +05/12 01:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=706.1ms, total=706.1ms [env.py: 1105] +05/12 01:40:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:40:44 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:40:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170929m [env.py: 870] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.67283405 -0.93114765 -0.17092881] yaw=-78.5deg [env.py: 1019] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:40:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=223.4ms, total=223.5ms [env.py: 1075] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.673, -0.931, -0.171) [env.py: 1079] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.5 deg [env.py: 1082] +05/12 01:40:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:40:46 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 01:40:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 01:40:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:40:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:40:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:40:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:40:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.604[m] 94.963[deg] [grasp_sample.py: 539] +05/12 01:40:48 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:40:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:40:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:40:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:40:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:40:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:40:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118999m [env.py: 870] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:40:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53876414 -1.02121925 -0.11899895] yaw=-49.3deg [env.py: 1019] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:40:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:40:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.0ms, total=236.1ms [env.py: 1075] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.539, -1.021, -0.119) [env.py: 1079] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/12 01:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:40:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:40:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:40:50 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 01:40:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:40:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:40:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:40:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:40:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:40:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:40:53 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/12 01:40:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:40:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.394s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:40:56 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.622[m] 85.688[deg] [grasp_sample.py: 539] +05/12 01:40:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:40:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:40:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:40:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:40:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:41:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:41:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:41:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.52s (batch: 3.14s, save: 8.38s) [pipeline.py: 300] +05/12 01:41:05 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.88s: + episode_total: mean=38.05s, total=152.20s, count=4, min=217.7ms, max=144144.9ms + sensor_polling: mean=368.3ms, total=94.65s, count=257, min=302.2ms, max=809.0ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8377.9ms, max=8377.9ms + physics_step: mean=25.0ms, total=6.42s, count=257, min=14.8ms, max=96.0ms + save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3140.8ms, max=3140.8ms + task_specific_sample: mean=326.1ms, total=1.30s, count=4, min=214.0ms, max=440.6ms + task_sampling: mean=440.6ms, total=881.3ms, count=2, min=437.5ms, max=443.8ms + task_sampling_failed: mean=218.0ms, total=436.0ms, count=2, min=217.6ms, max=218.4ms + scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=0.9ms, max=2.4ms + mj_forward_sync: mean=489.1us, total=2.0ms, count=4, min=0.4ms, max=0.8ms + policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:41:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:41:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:41:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:41:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:41:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:41:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:41:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149860m [env.py: 870] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:41:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.3ms, total=184.4ms [env.py: 1105] +05/12 01:41:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:41:06 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:41:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:41:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:41:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:41:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:41:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:41:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:41:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117736m [env.py: 870] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:41:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:41:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.9ms, total=172.0ms [env.py: 1105] +05/12 01:41:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:41:08 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:41:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:41:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:41:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:41:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:41:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:41:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:41:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130462m [env.py: 870] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:41:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.62268643 -0.98532397 -0.13046151] yaw=-71.9deg [env.py: 1019] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:41:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.1ms [env.py: 1075] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.623, -0.985, -0.130) [env.py: 1079] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 01:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:41:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:41:09 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 01:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 01:41:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:41:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:41:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:41:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.441s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:41:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.656[m] 85.230[deg] [grasp_sample.py: 539] +05/12 01:41:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:41:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:41:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:41:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:41:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:41:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:41:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:41:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:41:38 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:41:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.831s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:41:40 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.515[m] 58.132[deg] [grasp_sample.py: 539] +05/12 01:41:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:41:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:41:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:41:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:41:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:41:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:41:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:41:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:41:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:41:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:41:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:41:55 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:41:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.044s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:41:57 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.524[m] 58.030[deg] [grasp_sample.py: 539] +05/12 01:41:58 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:42:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152602m [env.py: 870] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63722131 -0.87299874 -0.15260163] yaw=-67.4deg [env.py: 1019] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57220471 -0.76092274 -0.15260163] yaw=-74.1deg [env.py: 1019] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5911607 -0.92943757 -0.15260163] yaw=-65.0deg [env.py: 1019] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.4ms, total=216.5ms [env.py: 1075] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.637, -0.873, -0.153) [env.py: 1079] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.4 deg [env.py: 1082] +05/12 01:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:00 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:42:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:42:00 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 01:42:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:42:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:42:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.969s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:42:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.705[m] 89.790[deg] [grasp_sample.py: 539] +05/12 01:42:04 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:42:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167106m [env.py: 870] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31115003 -1.13381042 -0.16710574] yaw=-51.2deg [env.py: 1019] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41552585 -0.91540554 -0.16710574] yaw=-49.6deg [env.py: 1019] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42616139 -0.96289408 -0.16710574] yaw=-61.7deg [env.py: 1019] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=227.0ms, total=227.0ms [env.py: 1075] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.134, -0.167) [env.py: 1079] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 01:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:06 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.848s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:42:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.679[m] 83.704[deg] [grasp_sample.py: 539] +05/12 01:42:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:42:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:42:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:42:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.041s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:42:10 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.042[m] 1.079[deg] [grasp_sample.py: 539] +05/12 01:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:42:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:42:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:42:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:42:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:42:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:42:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.84s (batch: 3.56s, save: 9.28s) [pipeline.py: 300] +05/12 01:42:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:42:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:42:13 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 01:42:14 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=1.54s: + episode_total: mean=76.56s, total=229.67s, count=3, min=3238.0ms, max=149250.9ms + sensor_polling: mean=361.2ms, total=151.33s, count=419, min=294.9ms, max=604.8ms + physics_step: mean=23.5ms, total=9.83s, count=419, min=19.3ms, max=61.9ms + save_trajectories: mean=9.28s, total=9.28s, count=1, min=9280.4ms, max=9280.4ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3558.7ms, max=3558.7ms + task_sampling: mean=511.8ms, total=1.54s, count=3, min=437.9ms, max=551.2ms + task_specific_sample: mean=508.8ms, total=1.53s, count=3, min=435.1ms, max=547.5ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.2ms, max=1.6ms + mj_forward_sync: mean=412.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:42:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124513m [env.py: 870] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21394758 -0.9947198 -0.1245127 ] yaw=-48.4deg [env.py: 1019] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.8ms, total=211.8ms [env.py: 1075] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -0.995, -0.125) [env.py: 1079] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/12 01:42:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:15 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.371s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:42:17 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:42:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150182m [env.py: 870] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 180.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.3ms, total=201.4ms [env.py: 1105] +05/12 01:42:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:42:18 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:42:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139694m [env.py: 870] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26250313 -0.9859725 -0.13969409] yaw=-50.3deg [env.py: 1019] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.4ms, total=202.4ms [env.py: 1075] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -0.986, -0.140) [env.py: 1079] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 01:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:20 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:42:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:42:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:42:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:42:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.27s (batch: 3.11s, save: 9.16s) [pipeline.py: 300] +05/12 01:42:26 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=1.77s: + episode_total: mean=48.18s, total=240.88s, count=5, min=175.0ms, max=160071.6ms + sensor_polling: mean=381.7ms, total=161.07s, count=422, min=318.8ms, max=652.7ms + physics_step: mean=23.3ms, total=9.85s, count=422, min=14.6ms, max=101.7ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9162.7ms, max=9162.7ms + save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3112.2ms, max=3112.2ms + task_specific_sample: mean=385.2ms, total=1.93s, count=5, min=171.5ms, max=478.5ms + task_sampling: mean=442.5ms, total=1.77s, count=4, min=383.3ms, max=481.1ms + task_sampling_failed: mean=175.0ms, total=175.0ms, count=1, min=175.0ms, max=175.0ms + scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.0ms, max=2.8ms + mj_forward_sync: mean=498.7us, total=2.5ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=15.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:42:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.570s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:42:27 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:42:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174463m [env.py: 870] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26219166 -1.01692764 -0.17446286] yaw=-41.4deg [env.py: 1019] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63548331 -0.83363591 -0.17446286] yaw=-72.9deg [env.py: 1019] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.0ms, total=227.1ms [env.py: 1075] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.017, -0.174) [env.py: 1079] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:28 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120024m [env.py: 870] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.5ms, total=217.5ms [env.py: 1105] +05/12 01:42:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:42:29 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:42:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180990m [env.py: 870] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.2ms, total=202.3ms [env.py: 1105] +05/12 01:42:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:42:30 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:42:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159416m [env.py: 870] +05/12 01:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=206.6ms, total=206.6ms [env.py: 1105] +05/12 01:42:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:42:32 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:42:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161619m [env.py: 870] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60479044 -0.92839608 -0.16161928] yaw=-67.4deg [env.py: 1019] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.050s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:42:33 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.743[m] 88.975[deg] [grasp_sample.py: 539] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31998813 -0.96347338 -0.16161928] yaw=-53.1deg [env.py: 1019] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.2ms, total=218.2ms [env.py: 1075] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.928, -0.162) [env.py: 1079] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.4 deg [env.py: 1082] +05/12 01:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:33 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:34 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:42:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.492s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:42:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.651[m] 95.624[deg] [grasp_sample.py: 539] +05/12 01:42:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:42:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:42:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:42:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125225m [env.py: 870] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26145274 -0.94350822 -0.12522492] yaw=-39.6deg [env.py: 1019] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2200728 -1.15655423 -0.12522492] yaw=-37.8deg [env.py: 1019] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=380.1ms, total=380.1ms [env.py: 1075] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -0.944, -0.125) [env.py: 1079] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg [env.py: 1082] +05/12 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:36 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.771s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:42:38 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:42:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:42:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:42:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124955m [env.py: 870] +05/12 01:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48941741 -0.85842662 -0.12495534] yaw=-60.0deg [env.py: 1019] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38899792 -0.78765917 -0.12495534] yaw=-68.5deg [env.py: 1019] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.9ms, total=231.0ms [env.py: 1075] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.858, -0.125) [env.py: 1079] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:42:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:42:40 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 01:42:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:42:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:42:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:42:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:42:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.687s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:42:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.747[m] 78.744[deg] [grasp_sample.py: 539] +05/12 01:42:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:42:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:42:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:42:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:43:00 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:43:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:43:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:43:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:43:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:43:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:43:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:43:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:43:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.505[m] 69.174[deg] [grasp_sample.py: 539] +05/12 01:43:03 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:43:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:43:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:43:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:43:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165719m [env.py: 870] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:43:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40191646 -0.89454773 -0.16571888] yaw=-58.0deg [env.py: 1019] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.2ms, total=220.3ms [env.py: 1075] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -0.895, -0.166) [env.py: 1079] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 01:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:43:04 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 01:43:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:43:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:43:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:43:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:43:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:43:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.970s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:43:11 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.764[m] 91.173[deg] [grasp_sample.py: 539] +05/12 01:43:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:43:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:43:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:43:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:43:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:43:22 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:43:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:43:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:43:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:43:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:43:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.80s (batch: 3.66s, save: 10.14s) [pipeline.py: 300] +05/12 01:43:36 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=4.19s: + episode_total: mean=15.50s, total=263.45s, count=17, min=199.6ms, max=166379.4ms + sensor_polling: mean=349.4ms, total=124.38s, count=356, min=299.4ms, max=598.1ms + save_trajectories: mean=10.14s, total=10.14s, count=1, min=10139.8ms, max=10139.8ms + physics_step: mean=22.5ms, total=8.02s, count=356, min=13.0ms, max=55.5ms + task_specific_sample: mean=426.2ms, total=7.25s, count=17, min=196.7ms, max=971.3ms + task_sampling: mean=523.8ms, total=4.19s, count=8, min=383.5ms, max=973.4ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3664.0ms, max=3664.0ms + task_sampling_failed: mean=345.3ms, total=3.11s, count=9, min=199.6ms, max=716.5ms + scene_randomize: mean=1.2ms, total=20.1ms, count=17, min=0.9ms, max=2.3ms + mj_forward_sync: mean=430.4us, total=7.3ms, count=17, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:43:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:43:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:43:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:43:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139797m [env.py: 870] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39720932 -0.81512099 -0.13979669] yaw=-69.8deg [env.py: 1019] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.9ms, total=182.9ms [env.py: 1075] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -0.815, -0.140) [env.py: 1079] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg [env.py: 1082] +05/12 01:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:43:38 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 01:43:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 01:43:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:43:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:43:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:43:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:43:39 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:43:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:43:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:43:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:43:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:43:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:43:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138105m [env.py: 870] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:43:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58973478 -0.78247209 -0.13810504] yaw=-72.2deg [env.py: 1019] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54157144 -1.01370045 -0.13810504] yaw=-52.2deg [env.py: 1019] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:43:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=395.7ms, total=395.7ms [env.py: 1075] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.782, -0.138) [env.py: 1079] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg [env.py: 1082] +05/12 01:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:43:41 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 01:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:43:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 01:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:43:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:43:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:43:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:43:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:43:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:43:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:43:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.453s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:43:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.137[m] 9.538[deg] [grasp_sample.py: 539] +05/12 01:43:47 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:43:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.305s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:43:48 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.825[m] 90.986[deg] [grasp_sample.py: 539] +05/12 01:43:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:43:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:43:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:43:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:43:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:43:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:43:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154002m [env.py: 870] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:43:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=285.3ms, total=285.4ms [env.py: 1105] +05/12 01:43:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:43:49 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:43:49 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:43:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:43:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:43:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:43:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:43:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:43:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176999m [env.py: 870] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:43:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27258169 -1.03549691 -0.17699897] yaw=-55.5deg [env.py: 1019] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27879849 -1.0170023 -0.17699897] yaw=-54.1deg [env.py: 1019] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:43:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.3ms, total=262.3ms [env.py: 1075] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -1.035, -0.177) [env.py: 1079] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/12 01:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:43:51 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 01:43:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:43:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:43:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:43:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:43:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:43:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:43:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:43:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:43:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:43:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135912m [env.py: 870] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:43:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39400878 -1.14098604 -0.13591176] yaw=-46.5deg [env.py: 1019] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:43:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=306.9ms, total=307.0ms [env.py: 1075] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -1.141, -0.136) [env.py: 1079] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 01:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:43:51 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 01:43:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 01:43:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:43:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:43:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:43:53 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:43:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.776s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:43:54 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.747[m] 91.535[deg] [grasp_sample.py: 539] +05/12 01:43:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:43:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:43:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:43:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:43:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.620[m] 91.674[deg] [grasp_sample.py: 539] +05/12 01:43:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:43:57 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:43:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:43:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:43:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:43:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:43:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:43:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:43:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159693m [env.py: 870] +05/12 01:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:43:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:43:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=211.2ms, total=211.3ms [env.py: 1105] +05/12 01:43:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:43:59 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:44:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:44:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:44:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:44:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:44:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:44:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100856m [env.py: 870] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:44:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.8ms, total=213.8ms [env.py: 1105] +05/12 01:44:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:44:00 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:44:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:44:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:44:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154283m [env.py: 870] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:44:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26407664 -0.92647835 -0.15428271] yaw=-46.1deg [env.py: 1019] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=214.4ms, total=214.5ms [env.py: 1075] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -0.926, -0.154) [env.py: 1079] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 01:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:44:02 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 01:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:44:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:44:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:44:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:44:03 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:44:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:44:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184612m [env.py: 870] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30204343 -0.91383441 -0.18461188] yaw=-52.2deg [env.py: 1019] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.0ms, total=206.0ms [env.py: 1075] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -0.914, -0.185) [env.py: 1079] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 01:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:44:05 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 01:44:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:44:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:44:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:44:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.926s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:44:11 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:44:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:44:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:44:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:44:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:44:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:44:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124324m [env.py: 870] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:44:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26852188 -1.18432759 -0.12432447] yaw=-44.2deg [env.py: 1019] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55291326 -0.78530679 -0.12432447] yaw=-67.1deg [env.py: 1019] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:44:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=206.6ms, total=206.7ms [env.py: 1075] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -1.184, -0.124) [env.py: 1079] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/12 01:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:44:13 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 01:44:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 01:44:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:44:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:44:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:44:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:44:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:44:14 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 01:44:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:44:17 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.704[m] 88.406[deg] [grasp_sample.py: 539] +05/12 01:44:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:44:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:44:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:44:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:44:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:44:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:44:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:44:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.15s (batch: 3.77s, save: 9.38s) [pipeline.py: 300] +05/12 01:44:27 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=1.46s: + episode_total: mean=39.24s, total=196.21s, count=5, min=180.0ms, max=141758.8ms + sensor_polling: mean=352.7ms, total=114.99s, count=326, min=302.4ms, max=604.0ms + save_trajectories: mean=9.38s, total=9.38s, count=1, min=9376.5ms, max=9376.5ms + physics_step: mean=22.8ms, total=7.42s, count=326, min=13.4ms, max=68.2ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.6ms, max=3768.6ms + task_specific_sample: mean=362.7ms, total=1.81s, count=5, min=176.8ms, max=516.0ms + task_sampling: mean=485.1ms, total=1.46s, count=3, min=450.3ms, max=518.8ms + task_sampling_failed: mean=187.5ms, total=375.0ms, count=2, min=179.9ms, max=195.0ms + scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=0.9ms, max=2.2ms + mj_forward_sync: mean=451.3us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=14.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:44:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:44:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:44:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:44:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:44:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:44:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195593m [env.py: 870] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:44:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37978283 -0.89195463 -0.19559311] yaw=-67.2deg [env.py: 1019] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36518658 -0.90127418 -0.19559311] yaw=-59.1deg [env.py: 1019] +05/12 01:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=791.1ms, total=791.2ms [env.py: 1075] +05/12 01:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -0.892, -0.196) [env.py: 1079] +05/12 01:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/12 01:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 01:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:44:30 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 01:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 01:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:44:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:44:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:44:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:44:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:44:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.581s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:44:39 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.734[m] 93.285[deg] [grasp_sample.py: 539] +05/12 01:44:40 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:44:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:44:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:44:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:44:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:44:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119487m [env.py: 870] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:44:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65846985 -0.9487051 -0.11948738] yaw=-75.7deg [env.py: 1019] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51663529 -0.97219522 -0.11948738] yaw=-71.2deg [env.py: 1019] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.8ms [env.py: 1075] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.658, -0.949, -0.119) [env.py: 1079] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 01:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:44:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:44:41 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 01:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:44:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:44:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:44:43 INFO: [Worker 0] Object is not in grasp! 0.00161 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:44:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:44:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:44:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:44:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 404 non-colliding grasps [grasp_sample.py: 465] +05/12 01:44:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.102s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:44:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.634[m] 96.896[deg] [grasp_sample.py: 539] +05/12 01:44:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:44:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.391s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:44:45 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.063[m] 19.490[deg] [grasp_sample.py: 539] +05/12 01:44:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:44:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:44:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:44:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:44:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:44:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:44:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:44:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:44:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:44:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:45:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:45:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:45:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:45:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:45:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:45:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:45:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:45:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.530s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:45:11 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.529[m] 71.187[deg] [grasp_sample.py: 539] +05/12 01:45:12 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:45:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:45:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:45:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:45:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:45:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:45:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:45:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:45:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149981m [env.py: 870] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:45:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26883637 -0.92208509 -0.14998084] yaw=-47.6deg [env.py: 1019] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51258117 -1.02341746 -0.14998084] yaw=-62.3deg [env.py: 1019] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.9ms, total=244.0ms [env.py: 1075] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -0.922, -0.150) [env.py: 1079] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/12 01:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:45:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:45:13 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 01:45:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:45:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:45:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:45:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:45:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.320s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:45:15 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:45:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:45:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:45:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:45:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:45:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:45:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:45:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157910m [env.py: 870] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:45:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48387936 -0.94654367 -0.15790975] yaw=-63.3deg [env.py: 1019] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:45:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.6ms [env.py: 1075] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.947, -0.158) [env.py: 1079] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg [env.py: 1082] +05/12 01:45:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:45:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:45:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:45:17 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 01:45:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:45:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:45:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:45:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:45:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:45:20 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.693[m] 99.286[deg] [grasp_sample.py: 539] +05/12 01:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:45:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:45:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:45:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:45:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:45:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:45:26 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:45:47 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:45:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:45:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:45:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:46:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:46:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:46:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.69s (batch: 3.72s, save: 9.97s) [pipeline.py: 300] +05/12 01:46:02 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=1.73s: + episode_total: mean=27.24s, total=217.94s, count=8, min=209.8ms, max=178036.7ms + sensor_polling: mean=370.1ms, total=127.32s, count=344, min=295.3ms, max=866.4ms + save_trajectories: mean=9.97s, total=9.97s, count=1, min=9969.6ms, max=9969.6ms + physics_step: mean=24.8ms, total=8.52s, count=344, min=14.7ms, max=88.7ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3723.3ms, max=3723.3ms + task_specific_sample: mean=320.9ms, total=2.57s, count=8, min=206.0ms, max=453.9ms + task_sampling: mean=432.2ms, total=1.73s, count=4, min=411.7ms, max=457.5ms + task_sampling_failed: mean=215.3ms, total=861.2ms, count=4, min=209.8ms, max=226.8ms + scene_randomize: mean=1.2ms, total=9.7ms, count=8, min=0.9ms, max=2.4ms + mj_forward_sync: mean=433.6us, total=3.5ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=15.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:46:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105009m [env.py: 870] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34290729 -0.86087804 -0.10500917] yaw=-57.3deg [env.py: 1019] +05/12 01:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.8ms [env.py: 1075] +05/12 01:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -0.861, -0.105) [env.py: 1079] +05/12 01:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 01:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/12 01:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:04 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.536s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:46:06 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:46:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:46:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:46:07 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 01:46:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165687m [env.py: 870] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=169.6ms, total=169.6ms [env.py: 1105] +05/12 01:46:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:46:07 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:46:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127893m [env.py: 870] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21377846 -1.04099343 -0.12789349] yaw=-42.8deg [env.py: 1019] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.2ms, total=256.3ms [env.py: 1075] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.041, -0.128) [env.py: 1079] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/12 01:46:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:09 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:12 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:46:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150546m [env.py: 870] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57656608 -0.84278551 -0.15054603] yaw=-76.9deg [env.py: 1019] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39506064 -1.03645409 -0.15054603] yaw=-44.6deg [env.py: 1019] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53937146 -0.75289862 -0.15054603] yaw=-68.6deg [env.py: 1019] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=344.0ms, total=344.0ms [env.py: 1075] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.843, -0.151) [env.py: 1079] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.9 deg [env.py: 1082] +05/12 01:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:13 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:14 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:46:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:46:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:46:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:46:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.14s (batch: 3.74s, save: 9.40s) [pipeline.py: 300] +05/12 01:46:20 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=2.05s: + episode_total: mean=45.59s, total=227.97s, count=5, min=294.3ms, max=150373.0ms + sensor_polling: mean=359.8ms, total=153.62s, count=427, min=321.1ms, max=602.4ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9397.3ms, max=9397.3ms + physics_step: mean=21.9ms, total=9.36s, count=427, min=14.8ms, max=66.6ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.7ms, max=3743.7ms + task_specific_sample: mean=466.1ms, total=2.33s, count=5, min=290.1ms, max=616.3ms + task_sampling: mean=513.0ms, total=2.05s, count=4, min=471.2ms, max=619.0ms + task_sampling_failed: mean=294.3ms, total=294.3ms, count=1, min=294.3ms, max=294.3ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=0.9ms, max=2.5ms + mj_forward_sync: mean=410.1us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:46:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.018s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:21 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.757[m] 96.144[deg] [grasp_sample.py: 539] +05/12 01:46:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:46:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:46:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:46:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174702m [env.py: 870] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30884872 -0.91321578 -0.17470234] yaw=-58.4deg [env.py: 1019] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46155338 -0.9726118 -0.17470234] yaw=-66.4deg [env.py: 1019] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48975907 -0.77495796 -0.17470234] yaw=-58.8deg [env.py: 1019] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.6ms, total=186.6ms [env.py: 1075] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -0.913, -0.175) [env.py: 1079] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg [env.py: 1082] +05/12 01:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:22 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.955s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:27 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:46:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145387m [env.py: 870] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=237.7ms, total=237.7ms [env.py: 1105] +05/12 01:46:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:46:29 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:46:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166185m [env.py: 870] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37643807 -1.07232137 -0.16618462] yaw=-56.9deg [env.py: 1019] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.7ms, total=212.7ms [env.py: 1075] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -1.072, -0.166) [env.py: 1079] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 01:46:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:31 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:46:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:46:32 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 01:46:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.263s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:34 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.674[m] 75.866[deg] [grasp_sample.py: 539] +05/12 01:46:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:46:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:46:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 258 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:35 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:46:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.322s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:35 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.053[m] 0.920[deg] [grasp_sample.py: 539] +05/12 01:46:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:46:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:46:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169393m [env.py: 870] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.6ms, total=200.6ms [env.py: 1105] +05/12 01:46:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:46:37 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:46:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179178m [env.py: 870] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20738433 -1.17330278 -0.17917757] yaw=-42.5deg [env.py: 1019] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=206.3ms, total=206.4ms [env.py: 1075] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.207, -1.173, -0.179) [env.py: 1079] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/12 01:46:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:38 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.710[m] 92.026[deg] [grasp_sample.py: 539] +05/12 01:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:41 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:46:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197088m [env.py: 870] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.2ms, total=215.3ms [env.py: 1105] +05/12 01:46:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:46:42 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192361m [env.py: 870] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56332254 -0.77795025 -0.19236126] yaw=-74.3deg [env.py: 1019] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.8ms [env.py: 1075] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.778, -0.192) [env.py: 1079] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.3 deg [env.py: 1082] +05/12 01:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:44 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:46:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:46:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.48s (batch: 3.32s, save: 9.16s) [pipeline.py: 300] +05/12 01:46:46 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=2.94s: + episode_total: mean=22.36s, total=178.84s, count=8, min=221.4ms, max=153028.4ms + sensor_polling: mean=387.9ms, total=107.45s, count=277, min=308.1ms, max=647.8ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9161.2ms, max=9161.2ms + physics_step: mean=24.2ms, total=6.72s, count=277, min=15.0ms, max=35.9ms + task_specific_sample: mean=419.9ms, total=3.36s, count=8, min=218.5ms, max=607.7ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3318.4ms, max=3318.4ms + task_sampling: mean=489.6ms, total=2.94s, count=6, min=407.4ms, max=610.3ms + task_sampling_failed: mean=221.9ms, total=443.8ms, count=2, min=221.4ms, max=222.4ms + scene_randomize: mean=1.2ms, total=9.7ms, count=8, min=0.9ms, max=2.5ms + mj_forward_sync: mean=442.8us, total=3.5ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=14.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111463m [env.py: 870] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50620547 -0.90099082 -0.11146317] yaw=-55.8deg [env.py: 1019] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57845762 -0.8818209 -0.11146317] yaw=-70.4deg [env.py: 1019] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13856803 -1.03555121 -0.11146317] yaw=-43.0deg [env.py: 1019] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.2ms, total=191.2ms [env.py: 1075] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.506, -0.901, -0.111) [env.py: 1079] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/12 01:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:47 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:46:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.762[m] 88.409[deg] [grasp_sample.py: 539] +05/12 01:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:46:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:46:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:46:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:46:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:46:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:46:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.571[m] 67.358[deg] [grasp_sample.py: 539] +05/12 01:46:54 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:46:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.529s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:46:55 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.765[m] 94.688[deg] [grasp_sample.py: 539] +05/12 01:46:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:46:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113324m [env.py: 870] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=344.1ms, total=344.2ms [env.py: 1105] +05/12 01:46:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:46:56 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:46:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:46:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:46:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178463m [env.py: 870] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=478.3ms, total=478.3ms [env.py: 1105] +05/12 01:46:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:46:57 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:46:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:46:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:46:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:46:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:46:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161255m [env.py: 870] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26030464 -1.15867521 -0.16125542] yaw=-47.9deg [env.py: 1019] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60238283 -0.87025863 -0.16125542] yaw=-68.1deg [env.py: 1019] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:46:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.1ms, total=241.1ms [env.py: 1075] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.159, -0.161) [env.py: 1079] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 01:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:46:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:46:59 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 01:46:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:46:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:46:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:46:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:47:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.522s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:47:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.704[m] 90.079[deg] [grasp_sample.py: 539] +05/12 01:47:01 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:47:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:47:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:47:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:47:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:47:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:47:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105034m [env.py: 870] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:47:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=463.9ms, total=464.0ms [env.py: 1105] +05/12 01:47:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:47:03 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:47:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:47:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:47:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:47:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:47:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:47:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196052m [env.py: 870] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:47:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=249.8ms, total=249.8ms [env.py: 1105] +05/12 01:47:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:47:04 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:47:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:47:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:47:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:47:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:47:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:47:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:47:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134165m [env.py: 870] +05/12 01:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:47:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=287.1ms, total=287.2ms [env.py: 1105] +05/12 01:47:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:47:06 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:47:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:47:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:47:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:47:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144779m [env.py: 870] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4656525 -1.00771658 -0.14477896] yaw=-62.6deg [env.py: 1019] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26686654 -1.06010467 -0.14477896] yaw=-46.0deg [env.py: 1019] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:47:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=306.2ms, total=306.3ms [env.py: 1075] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.466, -1.008, -0.145) [env.py: 1079] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 01:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:47:07 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 01:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 01:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:47:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:47:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:47:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.272s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:47:12 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.657[m] 89.127[deg] [grasp_sample.py: 539] +05/12 01:47:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:47:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:47:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:47:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:47:16 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:47:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:47:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:47:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 01:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:47:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:47:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:47:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:47:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:47:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:47:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:47:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.42s (batch: 4.02s, save: 9.40s) [pipeline.py: 300] +05/12 01:47:53 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=2.38s: + episode_total: mean=50.09s, total=200.37s, count=4, min=1936.9ms, max=156784.6ms + sensor_polling: mean=348.3ms, total=118.77s, count=341, min=299.1ms, max=715.7ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9403.0ms, max=9403.0ms + physics_step: mean=22.7ms, total=7.75s, count=341, min=14.8ms, max=57.1ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.3ms, max=4017.3ms + task_sampling: mean=594.1ms, total=2.38s, count=4, min=406.3ms, max=1012.0ms + task_specific_sample: mean=591.3ms, total=2.37s, count=4, min=403.6ms, max=1008.2ms + scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=0.9ms, max=2.6ms + mj_forward_sync: mean=399.0us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:47:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:47:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:47:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:47:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:47:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:47:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152592m [env.py: 870] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:47:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.4ms, total=219.4ms [env.py: 1105] +05/12 01:47:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:47:54 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:47:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:47:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:47:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154159m [env.py: 870] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55786532 -0.92786677 -0.1541588 ] yaw=-63.0deg [env.py: 1019] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:47:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.8ms [env.py: 1075] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.928, -0.154) [env.py: 1079] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/12 01:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:47:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:47:56 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 01:47:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 01:47:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:47:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:47:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:47:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.058s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:47:58 INFO: [Worker 0] Feasible grasp found 656 (originally 656): w/ 0.125[m] 9.977[deg] [grasp_sample.py: 539] +05/12 01:47:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:47:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:47:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:48:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:48:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:48:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:48:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.432s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:03 INFO: [Worker 0] Feasible grasp found 174 (originally 174): w/ 0.256[m] 12.320[deg] [grasp_sample.py: 539] +05/12 01:48:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:48:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:48:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:48:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:48:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:48:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:04 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.703[m] 85.806[deg] [grasp_sample.py: 539] +05/12 01:48:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:48:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:48:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:48:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:48:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:48:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.819s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:06 INFO: [Worker 0] Feasible grasp found 373 (originally 373): w/ 0.566[m] 25.745[deg] [grasp_sample.py: 539] +05/12 01:48:07 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:48:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130973m [env.py: 870] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25029484 -1.18061392 -0.13097265] yaw=-32.7deg [env.py: 1019] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:48:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.3ms, total=255.4ms [env.py: 1075] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -1.181, -0.131) [env.py: 1079] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg [env.py: 1082] +05/12 01:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:48:09 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 01:48:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 01:48:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:10 INFO: [Worker 0] Feasible grasp found 370 (originally 370): w/ 0.306[m] 22.359[deg] [grasp_sample.py: 539] +05/12 01:48:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:48:12 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:48:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.478s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.720[m] 84.206[deg] [grasp_sample.py: 539] +05/12 01:48:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:48:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:48:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:48:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:48:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177239m [env.py: 870] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=490.2ms, total=490.2ms [env.py: 1105] +05/12 01:48:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:48:13 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:48:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143315m [env.py: 870] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21885054 -1.01669674 -0.14331484] yaw=-41.7deg [env.py: 1019] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:48:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms [env.py: 1075] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.017, -0.143) [env.py: 1079] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg [env.py: 1082] +05/12 01:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:48:15 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 01:48:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 01:48:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:48:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.387s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:18 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:48:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165673m [env.py: 870] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32687548 -0.91998849 -0.16567323] yaw=-61.8deg [env.py: 1019] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.8ms, total=219.8ms [env.py: 1075] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -0.920, -0.166) [env.py: 1079] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg [env.py: 1082] +05/12 01:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:48:20 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 01:48:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:48:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.943s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:34 INFO: [Worker 0] Feasible grasp found 179 (originally 179): w/ 0.740[m] 92.224[deg] [grasp_sample.py: 539] +05/12 01:48:35 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142103m [env.py: 870] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31051517 -0.9300747 -0.14210348] yaw=-56.7deg [env.py: 1019] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.64608418 -0.96423015 -0.14210348] yaw=-78.7deg [env.py: 1019] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:48:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=447.6ms, total=447.7ms [env.py: 1075] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -0.930, -0.142) [env.py: 1079] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:48:37 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 01:48:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 01:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.732s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:39 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.797[m] 81.489[deg] [grasp_sample.py: 539] +05/12 01:48:40 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:48:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168266m [env.py: 870] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37209982 -1.10993987 -0.16826582] yaw=-44.4deg [env.py: 1019] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:48:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=380.8ms, total=380.8ms [env.py: 1075] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -1.110, -0.168) [env.py: 1079] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 01:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:48:42 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 01:48:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 01:48:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.638[m] 81.355[deg] [grasp_sample.py: 539] +05/12 01:48:44 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192591m [env.py: 870] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26325471 -0.88981004 -0.19259103] yaw=-52.8deg [env.py: 1019] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36822817 -0.90502852 -0.19259103] yaw=-52.3deg [env.py: 1019] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:48:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=209.9ms, total=209.9ms [env.py: 1075] +05/12 01:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -0.890, -0.193) [env.py: 1079] +05/12 01:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/12 01:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 01:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:48:46 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 01:48:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 01:48:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:48:47 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:48:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:48:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155936m [env.py: 870] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22885417 -1.11724734 -0.1559357 ] yaw=-32.4deg [env.py: 1019] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:48:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=407.2ms, total=407.3ms [env.py: 1075] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.117, -0.156) [env.py: 1079] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.4 deg [env.py: 1082] +05/12 01:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:48:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:48:49 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 01:48:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 01:48:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:48:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:48:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:48:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.653s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:48:54 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.748[m] 90.167[deg] [grasp_sample.py: 539] +05/12 01:48:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:48:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:48:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:48:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:48:57 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:49:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:49:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:49:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:49:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:49:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:49:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 01:49:18 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 01:49:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:49:19 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.167[m] 20.286[deg] [grasp_sample.py: 539] +05/12 01:49:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:49:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:49:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:49:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:49:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.53s (batch: 3.22s, save: 8.31s) [pipeline.py: 300] +05/12 01:49:30 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=2.44s: + episode_total: mean=17.66s, total=194.25s, count=11, min=178.6ms, max=143591.1ms + sensor_polling: mean=340.6ms, total=109.33s, count=321, min=295.7ms, max=614.7ms + save_trajectories: mean=8.31s, total=8.31s, count=1, min=8309.1ms, max=8309.1ms + physics_step: mean=22.8ms, total=7.33s, count=321, min=14.7ms, max=70.7ms + task_specific_sample: mean=405.1ms, total=4.46s, count=11, min=175.0ms, max=550.2ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3224.9ms, max=3224.9ms + task_sampling: mean=488.8ms, total=2.44s, count=5, min=433.0ms, max=552.4ms + task_sampling_failed: mean=341.7ms, total=2.05s, count=6, min=178.5ms, max=490.0ms + scene_randomize: mean=1.2ms, total=13.2ms, count=11, min=1.0ms, max=2.4ms + mj_forward_sync: mean=431.8us, total=4.7ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=12.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:49:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:49:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:49:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:49:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:49:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:49:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174712m [env.py: 870] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:49:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59813968 -0.92547521 -0.1747116 ] yaw=-66.0deg [env.py: 1019] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40021286 -1.07809608 -0.1747116 ] yaw=-45.1deg [env.py: 1019] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:49:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=204.9ms [env.py: 1075] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.925, -0.175) [env.py: 1079] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/12 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:49:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:49:32 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 01:49:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 01:49:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:49:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:49:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:49:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:49:34 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.644[m] 85.441[deg] [grasp_sample.py: 539] +05/12 01:49:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:49:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:49:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:49:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:49:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:49:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:49:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.471s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:49:49 INFO: [Worker 0] Feasible grasp found 386 (originally 386): w/ 0.283[m] 20.863[deg] [grasp_sample.py: 539] +05/12 01:49:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:49:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:49:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:49:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:49:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:49:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:49:52 INFO: [Worker 0] Feasible grasp found 620 (originally 620): w/ 0.646[m] 42.349[deg] [grasp_sample.py: 539] +05/12 01:49:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:49:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:49:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:50:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:50:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:50:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:50:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:50:03 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:50:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.449s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:50:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.466[m] 58.874[deg] [grasp_sample.py: 539] +05/12 01:50:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:50:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:50:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:50:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:24 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:50:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 01:50:24 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 01:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:50:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:50:36 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:50:36 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=False episode_total=0.45s: + episode_total: mean=80.28s, total=160.57s, count=2, min=230.6ms, max=160336.7ms + sensor_polling: mean=351.2ms, total=102.55s, count=292, min=291.1ms, max=688.7ms + physics_step: mean=22.2ms, total=6.50s, count=292, min=17.6ms, max=83.1ms + task_specific_sample: mean=337.6ms, total=675.1ms, count=2, min=225.0ms, max=450.1ms + task_sampling: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms + task_sampling_failed: mean=230.6ms, total=230.6ms, count=1, min=230.6ms, max=230.6ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=0.9ms, max=2.5ms + mj_forward_sync: mean=469.3us, total=0.9ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:50:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:50:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:50:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.70s (batch: 3.35s, save: 10.35s) [pipeline.py: 300] +05/12 01:50:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:50:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:50:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:50:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:50:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:50:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189392m [env.py: 870] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:50:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:37 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20482839 -1.01984004 -0.18939194] yaw=-52.5deg [env.py: 1019] +05/12 01:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:50:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.2ms, total=212.2ms [env.py: 1075] +05/12 01:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -1.020, -0.189) [env.py: 1079] +05/12 01:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/12 01:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 01:50:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:50:38 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 01:50:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:50:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:50:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:50:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:50:38 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=2.19s: + episode_total: mean=30.91s, total=247.26s, count=8, min=208.0ms, max=149356.7ms + sensor_polling: mean=370.1ms, total=158.76s, count=429, min=324.8ms, max=645.9ms + save_trajectories: mean=10.35s, total=10.35s, count=1, min=10346.0ms, max=10346.0ms + physics_step: mean=22.5ms, total=9.66s, count=429, min=14.7ms, max=60.7ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3349.2ms, max=3349.2ms + task_specific_sample: mean=355.2ms, total=2.84s, count=8, min=205.4ms, max=546.5ms + task_sampling: mean=437.1ms, total=2.19s, count=5, min=387.6ms, max=548.7ms + task_sampling_failed: mean=226.0ms, total=677.9ms, count=3, min=208.0ms, max=247.0ms + scene_randomize: mean=1.2ms, total=9.6ms, count=8, min=0.9ms, max=2.3ms + mj_forward_sync: mean=419.8us, total=3.4ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=13.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:50:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:50:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:50:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:50:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:50:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:50:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180274m [env.py: 870] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:50:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.3ms, total=230.3ms [env.py: 1105] +05/12 01:50:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:50:40 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:50:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:50:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:50:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:50:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:50:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:50:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159413m [env.py: 870] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:50:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.1ms, total=213.2ms [env.py: 1105] +05/12 01:50:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:50:41 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:50:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.041s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:50:42 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.742[m] 86.696[deg] [grasp_sample.py: 539] +05/12 01:50:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:50:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:50:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:50:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:50:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:50:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:50:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:50:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:50:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170733m [env.py: 870] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:50:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56268508 -0.78138405 -0.17073262] yaw=-63.8deg [env.py: 1019] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60969231 -0.96763208 -0.17073262] yaw=-61.6deg [env.py: 1019] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:50:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.6ms, total=209.6ms [env.py: 1075] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.781, -0.171) [env.py: 1079] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg [env.py: 1082] +05/12 01:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:50:43 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 01:50:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 01:50:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:50:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:50:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:50:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:50:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:50:48 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.797[m] 81.048[deg] [grasp_sample.py: 539] +05/12 01:50:50 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:50:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:50:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:50:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:50:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:50:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:50:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167347m [env.py: 870] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:50:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.3ms, total=207.3ms [env.py: 1105] +05/12 01:50:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:50:51 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:50:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:50:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:50:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174923m [env.py: 870] +05/12 01:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:50:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.3ms, total=198.3ms [env.py: 1105] +05/12 01:50:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:50:53 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:50:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:50:54 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 01:50:54 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 01:50:54 INFO: [Worker 0] Worker 0 completed house 1: 7/8 successful episodes [pipeline.py: 1323] +05/12 01:50:54 INFO: [Worker 0] [PROFILE] House 1 complete: 7/8 successful, 8 episodes, total_time=3199.88s + House averages: + episode_total: mean=25.37s, total=1826.83s, count=72, min=175.0ms, max=168044.6ms + sensor_polling: mean=376.5ms, total=1147.23s, count=3047, min=317.4ms, max=652.7ms + physics_step: mean=22.8ms, total=69.43s, count=3047, min=14.6ms, max=101.7ms + save_trajectories: mean=9.49s, total=66.45s, count=7, min=8738.8ms, max=10346.0ms + task_specific_sample: mean=395.2ms, total=28.45s, count=72, min=171.5ms, max=937.5ms + save_batch_prep: mean=3.47s, total=24.32s, count=7, min=3112.2ms, max=3743.7ms + task_sampling: mean=528.7ms, total=24.32s, count=46, min=365.1ms, max=2923.5ms + task_sampling_failed: mean=262.8ms, total=6.83s, count=26, min=175.0ms, max=677.1ms + scene_load: mean=2.47s, total=2.47s, count=1, min=2470.1ms, max=2470.1ms + scene_env_create: mean=1.46s, total=1.46s, count=1, min=1462.3ms, max=1462.3ms + scene_compile: mean=850.6ms, total=850.6ms, count=1, min=850.6ms, max=850.6ms + compile_mujoco: mean=528.6ms, total=528.6ms, count=1, min=528.6ms, max=528.6ms + compile_xml_load: mean=256.6ms, total=256.6ms, count=1, min=256.6ms, max=256.6ms + scene_init: mean=98.4ms, total=98.4ms, count=1, min=98.4ms, max=98.4ms + scene_randomize: mean=1.2ms, total=90.0ms, count=72, min=0.9ms, max=2.9ms + scene_asset_install: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + mj_forward_sync: mean=429.7us, total=30.9ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=14.3us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 01:50:54 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 01:50:54 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=3199.88s + Worker averages: + episode_total: mean=25.37s, total=1826.83s, count=72, min=175.0ms, max=168044.6ms + sensor_polling: mean=376.5ms, total=1147.23s, count=3047, min=317.4ms, max=652.7ms + physics_step: mean=22.8ms, total=69.43s, count=3047, min=14.6ms, max=101.7ms + save_trajectories: mean=9.49s, total=66.45s, count=7, min=8738.8ms, max=10346.0ms + task_specific_sample: mean=395.2ms, total=28.45s, count=72, min=171.5ms, max=937.5ms + save_batch_prep: mean=3.47s, total=24.32s, count=7, min=3112.2ms, max=3743.7ms + task_sampling: mean=528.7ms, total=24.32s, count=46, min=365.1ms, max=2923.5ms + task_sampling_failed: mean=262.8ms, total=6.83s, count=26, min=175.0ms, max=677.1ms + scene_load: mean=2.47s, total=2.47s, count=1, min=2470.1ms, max=2470.1ms + scene_env_create: mean=1.46s, total=1.46s, count=1, min=1462.3ms, max=1462.3ms + scene_compile: mean=850.6ms, total=850.6ms, count=1, min=850.6ms, max=850.6ms + compile_mujoco: mean=528.6ms, total=528.6ms, count=1, min=528.6ms, max=528.6ms + compile_xml_load: mean=256.6ms, total=256.6ms, count=1, min=256.6ms, max=256.6ms + scene_init: mean=98.4ms, total=98.4ms, count=1, min=98.4ms, max=98.4ms + scene_randomize: mean=1.2ms, total=90.0ms, count=72, min=0.9ms, max=2.9ms + scene_asset_install: mean=58.7ms, total=58.7ms, count=1, min=58.7ms, max=58.7ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + asset_install_grasps: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms + mj_forward_sync: mean=429.7us, total=30.9ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=13.9ms, total=13.9ms, count=1, min=13.9ms, max=13.9ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=14.3us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 01:50:57 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 01:50:57 INFO: Success count: 7, Total count: 8 [pipeline.py: 1491] +05/12 01:50:57 INFO: Success rate: 87.50% [pipeline.py: 1492] +05/12 01:50:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:50:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:50:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 01:50:57 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 01:50:59 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:50:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:50:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:50:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:50:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 379 non-colliding grasps [grasp_sample.py: 465] +05/12 01:51:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.930s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:51:01 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.124[m] 5.802[deg] [grasp_sample.py: 539] +05/12 01:51:02 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:51:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:51:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:51:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:51:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:51:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:51:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:51:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:51:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:51:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105118m [env.py: 870] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:51:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5093746 -0.95668076 -0.10511795] yaw=-69.5deg [env.py: 1019] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=165.2ms, total=165.2ms [env.py: 1075] +05/12 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -0.957, -0.105) [env.py: 1079] +05/12 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/12 01:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:51:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:51:04 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 01:51:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:51:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:51:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:51:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:51:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.346s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:51:09 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.761[m] 89.980[deg] [grasp_sample.py: 539] +05/12 01:51:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:51:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:51:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:51:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:51:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:51:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.96s (batch: 3.71s, save: 9.25s) [pipeline.py: 300] +05/12 01:51:11 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=3.70s: + episode_total: mean=31.91s, total=255.27s, count=8, min=499.7ms, max=142496.8ms + sensor_polling: mean=331.1ms, total=146.70s, count=443, min=298.4ms, max=639.9ms + physics_step: mean=21.8ms, total=9.67s, count=443, min=14.9ms, max=33.3ms + save_trajectories: mean=9.25s, total=9.25s, count=1, min=9246.7ms, max=9246.7ms + task_specific_sample: mean=522.1ms, total=4.18s, count=8, min=413.2ms, max=669.1ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3709.3ms, max=3709.3ms + task_sampling: mean=528.6ms, total=3.70s, count=7, min=415.6ms, max=672.0ms + task_sampling_failed: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms + scene_randomize: mean=1.3ms, total=10.4ms, count=8, min=0.9ms, max=2.3ms + mj_forward_sync: mean=430.2us, total=3.4ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=14.7us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:51:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:51:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:51:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:51:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:51:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:51:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:51:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:51:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:51:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149173m [env.py: 870] +05/12 01:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:51:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43691841 -0.81425998 -0.14917342] yaw=-66.4deg [env.py: 1019] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34981632 -0.8232504 -0.14917342] yaw=-51.1deg [env.py: 1019] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:51:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=310.5ms, total=310.6ms [env.py: 1075] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.814, -0.149) [env.py: 1079] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg [env.py: 1082] +05/12 01:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 01:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:51:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:51:13 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 01:51:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 01:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:51:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:51:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:51:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.316s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:51:15 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:51:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:51:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:51:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:51:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:51:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186800m [env.py: 870] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=597.2ms, total=597.2ms [env.py: 1105] +05/12 01:51:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:51:17 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:51:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:51:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:51:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:51:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:51:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:51:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:51:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:51:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:51:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190420m [env.py: 870] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:51:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:51:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=739.1ms, total=739.2ms [env.py: 1105] +05/12 01:51:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:51:18 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:51:20 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 01:51:20 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 01:51:20 INFO: [Worker 0] Worker 0 completed house 1: 8/8 successful episodes [pipeline.py: 1323] +05/12 01:51:20 INFO: [Worker 0] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=3164.61s + House averages: + episode_total: mean=25.78s, total=1855.89s, count=72, min=199.6ms, max=166379.4ms + sensor_polling: mean=356.6ms, total=1062.00s, count=2978, min=295.9ms, max=760.2ms + save_trajectories: mean=9.45s, total=75.64s, count=8, min=8501.5ms, max=10512.1ms + physics_step: mean=23.1ms, total=68.89s, count=2978, min=13.0ms, max=122.7ms + task_specific_sample: mean=449.7ms, total=32.38s, count=72, min=196.7ms, max=971.3ms + save_batch_prep: mean=3.64s, total=29.10s, count=8, min=3318.4ms, max=4118.4ms + task_sampling: mean=560.6ms, total=27.47s, count=49, min=377.7ms, max=2837.6ms + task_sampling_failed: mean=325.8ms, total=7.49s, count=23, min=199.6ms, max=754.4ms + scene_load: mean=2.37s, total=2.37s, count=1, min=2366.2ms, max=2366.2ms + scene_env_create: mean=1.42s, total=1.42s, count=1, min=1422.5ms, max=1422.5ms + scene_compile: mean=798.4ms, total=798.4ms, count=1, min=798.4ms, max=798.4ms + compile_mujoco: mean=519.0ms, total=519.0ms, count=1, min=519.0ms, max=519.0ms + compile_xml_load: mean=214.3ms, total=214.3ms, count=1, min=214.3ms, max=214.3ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + scene_randomize: mean=1.2ms, total=87.9ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + scene_asset_install: mean=48.3ms, total=48.3ms, count=1, min=48.3ms, max=48.3ms + asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms + mj_forward_sync: mean=427.7us, total=30.8ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=15.6us, total=0.8ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 01:51:20 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 01:51:20 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=3164.61s + Worker averages: + episode_total: mean=25.78s, total=1855.89s, count=72, min=199.6ms, max=166379.4ms + sensor_polling: mean=356.6ms, total=1062.00s, count=2978, min=295.9ms, max=760.2ms + save_trajectories: mean=9.45s, total=75.64s, count=8, min=8501.5ms, max=10512.1ms + physics_step: mean=23.1ms, total=68.89s, count=2978, min=13.0ms, max=122.7ms + task_specific_sample: mean=449.7ms, total=32.38s, count=72, min=196.7ms, max=971.3ms + save_batch_prep: mean=3.64s, total=29.10s, count=8, min=3318.4ms, max=4118.4ms + task_sampling: mean=560.6ms, total=27.47s, count=49, min=377.7ms, max=2837.6ms + task_sampling_failed: mean=325.8ms, total=7.49s, count=23, min=199.6ms, max=754.4ms + scene_load: mean=2.37s, total=2.37s, count=1, min=2366.2ms, max=2366.2ms + scene_env_create: mean=1.42s, total=1.42s, count=1, min=1422.5ms, max=1422.5ms + scene_compile: mean=798.4ms, total=798.4ms, count=1, min=798.4ms, max=798.4ms + compile_mujoco: mean=519.0ms, total=519.0ms, count=1, min=519.0ms, max=519.0ms + compile_xml_load: mean=214.3ms, total=214.3ms, count=1, min=214.3ms, max=214.3ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + scene_randomize: mean=1.2ms, total=87.9ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + scene_asset_install: mean=48.3ms, total=48.3ms, count=1, min=48.3ms, max=48.3ms + asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms + mj_forward_sync: mean=427.7us, total=30.8ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=15.6us, total=0.8ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 01:51:22 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 01:51:22 INFO: Success count: 8, Total count: 8 [pipeline.py: 1491] +05/12 01:51:22 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 01:51:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:51:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:51:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:52:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:52:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:52:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:52:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:52:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:52:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 01:52:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.477s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:52:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.136[m] 4.629[deg] [grasp_sample.py: 539] +05/12 01:52:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:52:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:52:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:23 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:52:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:52:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:42 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:52:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:52:42 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 01:52:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 01:52:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:52:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:52:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 323 non-colliding grasps [grasp_sample.py: 465] +05/12 01:52:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.512s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:52:48 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.128[m] 4.460[deg] [grasp_sample.py: 539] +05/12 01:52:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:52:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:52:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:52:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:52:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.58s (batch: 3.22s, save: 8.36s) [pipeline.py: 300] +05/12 01:52:54 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.44s: + episode_total: mean=136.56s, total=136.56s, count=1, min=136560.2ms, max=136560.2ms + sensor_polling: mean=328.5ms, total=91.99s, count=280, min=299.3ms, max=569.0ms + save_trajectories: mean=8.36s, total=8.36s, count=1, min=8359.9ms, max=8359.9ms + physics_step: mean=21.6ms, total=6.05s, count=280, min=14.7ms, max=30.7ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3219.2ms, max=3219.2ms + task_sampling: mean=437.5ms, total=437.5ms, count=1, min=437.5ms, max=437.5ms + task_specific_sample: mean=435.2ms, total=435.2ms, count=1, min=435.2ms, max=435.2ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=420.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:52:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:52:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:52:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:52:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:52:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:52:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:52:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102838m [env.py: 870] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:52:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32939733 -1.08364079 -0.10283751] yaw=-43.7deg [env.py: 1019] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21991314 -1.08907989 -0.10283751] yaw=-32.8deg [env.py: 1019] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:52:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.2ms, total=162.3ms [env.py: 1075] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.084, -0.103) [env.py: 1079] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 01:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:52:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:52:55 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 01:52:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 01:52:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:52:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:52:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:52:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.417s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:52:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.743[m] 85.149[deg] [grasp_sample.py: 539] +05/12 01:52:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:52:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:52:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:52:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:53:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:53:03 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:53:03 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=False episode_total=0.93s: + episode_total: mean=105.12s, total=210.25s, count=2, min=90321.3ms, max=119924.5ms + sensor_polling: mean=328.1ms, total=153.54s, count=468, min=298.1ms, max=596.8ms + physics_step: mean=21.3ms, total=9.96s, count=468, min=14.8ms, max=32.1ms + task_sampling: mean=464.7ms, total=929.4ms, count=2, min=396.4ms, max=533.1ms + task_specific_sample: mean=461.4ms, total=922.8ms, count=2, min=393.5ms, max=529.2ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=409.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:53:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:53:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:53:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:53:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:53:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:53:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:53:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185979m [env.py: 870] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:53:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=542.1ms, total=542.1ms [env.py: 1105] +05/12 01:53:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:53:05 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:53:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:53:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:53:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:53:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:53:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:53:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:53:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:53:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:53:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176313m [env.py: 870] +05/12 01:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:53:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22702147 -1.11815246 -0.17631269] yaw=-41.2deg [env.py: 1019] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:53:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.5ms, total=256.5ms [env.py: 1075] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.118, -0.176) [env.py: 1079] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/12 01:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 01:53:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:53:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:53:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:53:07 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 01:53:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 01:53:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:53:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:53:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:53:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.703s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:53:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.724[m] 91.688[deg] [grasp_sample.py: 539] +05/12 01:53:10 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:53:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:53:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:53:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:53:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:53:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:53:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:53:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181352m [env.py: 870] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:53:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45092257 -0.99547098 -0.18135164] yaw=-55.8deg [env.py: 1019] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:53:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.4ms [env.py: 1075] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.995, -0.181) [env.py: 1079] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/12 01:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:53:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:53:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:53:12 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 01:53:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 01:53:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:53:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:53:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:53:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.148s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:53:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.659[m] 87.616[deg] [grasp_sample.py: 539] +05/12 01:53:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:53:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:53:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:53:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:53:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:53:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:54:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:54:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:54:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:54:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:54:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.529s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:54:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.133[m] 12.502[deg] [grasp_sample.py: 539] +05/12 01:54:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:54:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:54:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:54:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:54:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:54:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:54:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:54:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:54:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.133[m] 12.500[deg] [grasp_sample.py: 539] +05/12 01:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:54:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:54:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:54:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:54:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:54:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:54:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:54:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.481s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:54:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.133[m] 12.500[deg] [grasp_sample.py: 539] +05/12 01:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:54:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:54:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:54:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:54:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:54:36 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:54:36 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:54:36 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=False episode_total=0.98s: + episode_total: mean=29.80s, total=89.39s, count=3, min=556.3ms, max=85404.4ms + sensor_polling: mean=308.3ms, total=45.02s, count=146, min=297.0ms, max=480.2ms + physics_step: mean=18.9ms, total=2.76s, count=146, min=13.2ms, max=24.2ms + task_specific_sample: mean=507.8ms, total=1.52s, count=3, min=475.0ms, max=546.9ms + task_sampling: mean=490.7ms, total=981.4ms, count=2, min=477.3ms, max=504.1ms + task_sampling_failed: mean=556.3ms, total=556.3ms, count=1, min=556.3ms, max=556.3ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=1.0ms, max=1.2ms + mj_forward_sync: mean=407.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:54:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:54:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:54:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:54:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:54:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:54:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:54:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198357m [env.py: 870] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:54:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=427.1ms, total=427.2ms [env.py: 1105] +05/12 01:54:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:54:38 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:54:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:54:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:54:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:54:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:54:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:54:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:54:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:54:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:54:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:54:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107297m [env.py: 870] +05/12 01:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:54:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:54:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.6116291 -0.79536463 -0.10729749] yaw=-72.3deg [env.py: 1019] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:54:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.9ms, total=236.0ms [env.py: 1075] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.795, -0.107) [env.py: 1079] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.3 deg [env.py: 1082] +05/12 01:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 01:54:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:54:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:54:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:54:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:54:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:54:40 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 01:54:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 01:54:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:54:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:54:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:54:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.009s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:54:45 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.779[m] 82.982[deg] [grasp_sample.py: 539] +05/12 01:54:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:54:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:54:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:54:55 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:54:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:54:55 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 01:55:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:55:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:55:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.62s (batch: 3.72s, save: 10.90s) [pipeline.py: 300] +05/12 01:55:10 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.37s: + episode_total: mean=135.23s, total=135.23s, count=1, min=135232.8ms, max=135232.8ms + sensor_polling: mean=310.1ms, total=88.70s, count=286, min=292.3ms, max=536.9ms + save_trajectories: mean=10.90s, total=10.90s, count=1, min=10898.6ms, max=10898.6ms + physics_step: mean=20.8ms, total=5.96s, count=286, min=14.5ms, max=27.1ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3720.8ms, max=3720.8ms + task_sampling: mean=371.8ms, total=371.8ms, count=1, min=371.8ms, max=371.8ms + task_specific_sample: mean=368.3ms, total=368.3ms, count=1, min=368.3ms, max=368.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=436.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=27.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:55:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:55:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:55:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:55:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:55:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:55:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158723m [env.py: 870] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:55:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=242.4ms, total=242.5ms [env.py: 1105] +05/12 01:55:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:55:12 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:55:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:55:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:55:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:55:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:55:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:55:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101814m [env.py: 870] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:55:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13935282 -1.06684136 -0.10181423] yaw=-49.6deg [env.py: 1019] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:55:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms [env.py: 1075] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.139, -1.067, -0.102) [env.py: 1079] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 01:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:55:14 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 01:55:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 01:55:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:55:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:55:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:55:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.629s, found feasible grasp: False [grasp_sample.py: 500] +05/12 01:55:15 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 01:55:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:55:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:55:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:55:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:55:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:55:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161217m [env.py: 870] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:55:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.1ms, total=156.2ms [env.py: 1105] +05/12 01:55:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:55:17 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:55:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:55:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:55:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:55:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:55:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:55:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193048m [env.py: 870] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:55:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.66585484 -0.92134982 -0.19304817] yaw=-69.8deg [env.py: 1019] +05/12 01:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=542.5ms, total=542.6ms [env.py: 1075] +05/12 01:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.666, -0.921, -0.193) [env.py: 1079] +05/12 01:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg [env.py: 1082] +05/12 01:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 01:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:55:19 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 01:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 01:55:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:55:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:55:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:55:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.153s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:55:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.669[m] 87.165[deg] [grasp_sample.py: 539] +05/12 01:55:21 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:55:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:55:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:55:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:55:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:55:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:55:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:55:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117066m [env.py: 870] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:55:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2398692 -1.20000627 -0.11706574] yaw=-25.7deg [env.py: 1019] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2573853 -1.08259538 -0.11706574] yaw=-35.9deg [env.py: 1019] +05/12 01:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:55:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.8ms, total=272.8ms [env.py: 1075] +05/12 01:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -1.200, -0.117) [env.py: 1079] +05/12 01:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.7 deg [env.py: 1082] +05/12 01:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 01:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:55:23 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 01:55:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:55:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:55:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:55:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:55:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.688s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:55:26 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.763[m] 83.298[deg] [grasp_sample.py: 539] +05/12 01:55:27 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:55:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:55:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:55:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:55:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184432m [env.py: 870] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45331613 -1.03728599 -0.18443233] yaw=-63.2deg [env.py: 1019] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=438.5ms, total=438.5ms [env.py: 1075] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -1.037, -0.184) [env.py: 1079] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg [env.py: 1082] +05/12 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:55:29 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 01:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:55:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:55:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:55:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:55:29 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.642[m] 86.882[deg] [grasp_sample.py: 539] +05/12 01:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:55:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:55:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:55:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:55:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:55:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:55:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:55:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:55:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.281s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:55:58 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:55:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:55:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:55:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:55:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:55:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:55:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:55:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147825m [env.py: 870] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:55:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:55:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.0ms, total=192.1ms [env.py: 1105] +05/12 01:55:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:55:59 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:56:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:56:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:56:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:56:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:56:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:56:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:56:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176638m [env.py: 870] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:56:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.580213 -0.89797099 -0.17663805] yaw=-67.3deg [env.py: 1019] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40653053 -0.99171656 -0.17663805] yaw=-47.6deg [env.py: 1019] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52903098 -0.8186463 -0.17663805] yaw=-72.7deg [env.py: 1019] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:56:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.8ms, total=100.8ms [env.py: 1075] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.580, -0.898, -0.177) [env.py: 1079] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 01:56:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:56:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:56:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:56:01 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 01:56:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 01:56:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:56:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:56:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:56:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:56:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.661[m] 89.069[deg] [grasp_sample.py: 539] +05/12 01:56:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:56:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:56:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:56:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:56:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:56:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:56:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:56:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:56:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:56:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.388s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:56:30 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.545[m] 62.348[deg] [grasp_sample.py: 539] +05/12 01:56:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:56:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:56:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:56:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:56:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:56:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:56:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:56:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.516s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:56:44 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.544[m] 62.324[deg] [grasp_sample.py: 539] +05/12 01:56:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:56:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:56:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:56:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:56:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 01:56:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:56:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:56:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:56:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:56:59 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.544[m] 62.324[deg] [grasp_sample.py: 539] +05/12 01:56:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:56:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:56:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:03 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 01:57:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 01:57:09 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 01:57:10 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 01:57:10 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=False episode_total=0.80s: + episode_total: mean=37.09s, total=148.35s, count=4, min=200.6ms, max=78444.5ms + sensor_polling: mean=311.4ms, total=67.58s, count=217, min=293.2ms, max=475.9ms + physics_step: mean=19.0ms, total=4.13s, count=217, min=12.8ms, max=27.0ms + task_specific_sample: mean=356.2ms, total=1.42s, count=4, min=196.7ms, max=471.7ms + task_sampling: mean=401.1ms, total=802.1ms, count=2, min=327.2ms, max=474.9ms + task_sampling_failed: mean=319.9ms, total=639.8ms, count=2, min=200.6ms, max=439.3ms + scene_randomize: mean=1.1ms, total=4.4ms, count=4, min=1.0ms, max=1.2ms + mj_forward_sync: mean=399.1us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157410m [env.py: 870] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59265195 -0.76705595 -0.15741039] yaw=-70.7deg [env.py: 1019] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=218.5ms, total=218.5ms [env.py: 1075] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.767, -0.157) [env.py: 1079] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/12 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:57:12 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 01:57:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 01:57:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:57:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:57:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:57:20 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:57:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:57:20 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 01:57:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.422s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:57:21 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 01:57:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143721m [env.py: 870] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44945246 -0.98208806 -0.14372104] yaw=-52.1deg [env.py: 1019] +05/12 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:57:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.9ms, total=196.9ms [env.py: 1075] +05/12 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.449, -0.982, -0.144) [env.py: 1079] +05/12 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg [env.py: 1082] +05/12 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:57:23 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 01:57:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 01:57:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:57:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:57:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:57:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.990s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:57:26 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.722[m] 92.830[deg] [grasp_sample.py: 539] +05/12 01:57:27 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182100m [env.py: 870] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36408168 -0.94464657 -0.18210018] yaw=-52.0deg [env.py: 1019] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.7ms, total=195.8ms [env.py: 1075] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.945, -0.182) [env.py: 1079] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/12 01:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:57:29 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 01:57:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 01:57:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:57:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:57:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:57:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:57:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:57:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.87s (batch: 2.84s, save: 8.03s) [pipeline.py: 300] +05/12 01:57:31 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=2.25s: + episode_total: mean=22.26s, total=133.59s, count=6, min=163.6ms, max=123545.7ms + sensor_polling: mean=312.5ms, total=81.87s, count=262, min=295.0ms, max=558.5ms + save_trajectories: mean=8.03s, total=8.03s, count=1, min=8027.8ms, max=8027.8ms + physics_step: mean=20.7ms, total=5.42s, count=262, min=15.3ms, max=26.1ms + save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2844.6ms, max=2844.6ms + task_specific_sample: mean=441.2ms, total=2.65s, count=6, min=160.9ms, max=752.9ms + task_sampling: mean=561.5ms, total=2.25s, count=4, min=360.5ms, max=755.0ms + task_sampling_failed: mean=209.6ms, total=419.3ms, count=2, min=163.5ms, max=255.7ms + scene_randomize: mean=1.4ms, total=8.1ms, count=6, min=1.0ms, max=3.1ms + mj_forward_sync: mean=452.1us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:57:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.918s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:57:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.718[m] 81.213[deg] [grasp_sample.py: 539] +05/12 01:57:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152906m [env.py: 870] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:33 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56774833 -0.97544418 -0.15290552] yaw=-72.8deg [env.py: 1019] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40620496 -0.91986549 -0.15290552] yaw=-48.6deg [env.py: 1019] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:57:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.1ms, total=207.1ms [env.py: 1075] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -0.975, -0.153) [env.py: 1079] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg [env.py: 1082] +05/12 01:57:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:57:33 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 01:57:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 01:57:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:57:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:57:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:57:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196115m [env.py: 870] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.6ms, total=195.6ms [env.py: 1105] +05/12 01:57:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:57:34 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:57:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104484m [env.py: 870] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.3ms, total=191.4ms [env.py: 1105] +05/12 01:57:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 01:57:36 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 01:57:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.067s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:57:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.658[m] 96.351[deg] [grasp_sample.py: 539] +05/12 01:57:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126844m [env.py: 870] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59044345 -0.95197825 -0.12684365] yaw=-59.4deg [env.py: 1019] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50015139 -0.7785293 -0.12684365] yaw=-63.9deg [env.py: 1019] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21530178 -0.93583782 -0.12684365] yaw=-42.8deg [env.py: 1019] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:57:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=181.8ms, total=181.8ms [env.py: 1075] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.952, -0.127) [env.py: 1079] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 01:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:57:37 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 01:57:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 01:57:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:57:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:57:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:57:38 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:57:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:57:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:57:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:57:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:57:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:57:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194005m [env.py: 870] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:57:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36736405 -1.06085467 -0.19400525] yaw=-59.7deg [env.py: 1019] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:57:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms [env.py: 1075] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -1.061, -0.194) [env.py: 1079] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 01:57:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:57:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:57:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:57:39 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 01:57:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 01:57:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:57:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:57:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:57:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.451s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:57:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.689[m] 81.019[deg] [grasp_sample.py: 539] +05/12 01:57:41 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 01:57:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.608s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:57:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.677[m] 83.661[deg] [grasp_sample.py: 539] +05/12 01:57:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:57:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:57:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:57:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 01:57:42 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 01:57:42 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 01:57:42 INFO: [Worker 0] Worker 0 completed house 1: 7/12 successful episodes [pipeline.py: 1323] +05/12 01:57:42 INFO: [Worker 0] [PROFILE] House 1 complete: 7/12 successful, 12 episodes, total_time=3779.96s + House averages: + episode_total: mean=31.12s, total=2240.63s, count=72, min=178.6ms, max=178036.7ms + sensor_polling: mean=346.1ms, total=1298.31s, count=3751, min=293.2ms, max=866.4ms + physics_step: mean=22.4ms, total=83.86s, count=3751, min=12.8ms, max=101.5ms + save_trajectories: mean=9.30s, total=65.13s, count=7, min=8107.7ms, max=10329.2ms + task_specific_sample: mean=389.2ms, total=28.02s, count=72, min=175.0ms, max=807.2ms + save_batch_prep: mean=3.45s, total=24.14s, count=7, min=3104.9ms, max=3919.3ms + task_sampling: mean=541.1ms, total=23.81s, count=44, min=304.6ms, max=3882.5ms + task_sampling_failed: mean=278.6ms, total=7.80s, count=28, min=178.5ms, max=556.3ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3358.4ms, max=3358.4ms + scene_env_create: mean=1.89s, total=1.89s, count=1, min=1887.6ms, max=1887.6ms + scene_compile: mean=1.33s, total=1.33s, count=1, min=1325.2ms, max=1325.2ms + compile_mujoco: mean=627.7ms, total=627.7ms, count=1, min=627.7ms, max=627.7ms + compile_xml_load: mean=616.9ms, total=616.9ms, count=1, min=616.9ms, max=616.9ms + scene_init: mean=100.7ms, total=100.7ms, count=1, min=100.7ms, max=100.7ms + scene_randomize: mean=1.3ms, total=92.2ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms + mj_forward_sync: mean=435.3us, total=31.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.1ms, total=30.1ms, count=1, min=30.1ms, max=30.1ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=15.0us, total=0.7ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 01:57:42 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 01:57:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=3779.96s + Worker averages: + episode_total: mean=31.12s, total=2240.63s, count=72, min=178.6ms, max=178036.7ms + sensor_polling: mean=346.1ms, total=1298.31s, count=3751, min=293.2ms, max=866.4ms + physics_step: mean=22.4ms, total=83.86s, count=3751, min=12.8ms, max=101.5ms + save_trajectories: mean=9.30s, total=65.13s, count=7, min=8107.7ms, max=10329.2ms + task_specific_sample: mean=389.2ms, total=28.02s, count=72, min=175.0ms, max=807.2ms + save_batch_prep: mean=3.45s, total=24.14s, count=7, min=3104.9ms, max=3919.3ms + task_sampling: mean=541.1ms, total=23.81s, count=44, min=304.6ms, max=3882.5ms + task_sampling_failed: mean=278.6ms, total=7.80s, count=28, min=178.5ms, max=556.3ms + scene_load: mean=3.36s, total=3.36s, count=1, min=3358.4ms, max=3358.4ms + scene_env_create: mean=1.89s, total=1.89s, count=1, min=1887.6ms, max=1887.6ms + scene_compile: mean=1.33s, total=1.33s, count=1, min=1325.2ms, max=1325.2ms + compile_mujoco: mean=627.7ms, total=627.7ms, count=1, min=627.7ms, max=627.7ms + compile_xml_load: mean=616.9ms, total=616.9ms, count=1, min=616.9ms, max=616.9ms + scene_init: mean=100.7ms, total=100.7ms, count=1, min=100.7ms, max=100.7ms + scene_randomize: mean=1.3ms, total=92.2ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms + mj_forward_sync: mean=435.3us, total=31.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.1ms, total=30.1ms, count=1, min=30.1ms, max=30.1ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=15.0us, total=0.7ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 01:57:44 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 01:57:44 INFO: Success count: 7, Total count: 12 [pipeline.py: 1491] +05/12 01:57:44 INFO: Success rate: 58.33% [pipeline.py: 1492] +05/12 01:58:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:58:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 01:58:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 01:59:13 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 01:59:31 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 01:59:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 01:59:31 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 01:59:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 01:59:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 01:59:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.55s (batch: 2.68s, save: 7.87s) [pipeline.py: 300] +05/12 01:59:42 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.83s: + episode_total: mean=64.11s, total=128.21s, count=2, min=4831.5ms, max=123383.1ms + sensor_polling: mean=311.8ms, total=83.56s, count=268, min=287.9ms, max=585.5ms + save_trajectories: mean=7.87s, total=7.87s, count=1, min=7866.4ms, max=7866.4ms + physics_step: mean=20.4ms, total=5.47s, count=268, min=14.5ms, max=28.9ms + save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2684.1ms, max=2684.1ms + task_sampling: mean=416.5ms, total=833.1ms, count=2, min=392.4ms, max=440.7ms + task_specific_sample: mean=413.8ms, total=827.7ms, count=2, min=389.9ms, max=437.8ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.0ms, max=1.8ms + mj_forward_sync: mean=408.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 01:59:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 01:59:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 01:59:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 01:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:59:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 01:59:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 01:59:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 01:59:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145606m [env.py: 870] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 01:59:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64485472 -0.95530209 -0.14560582] yaw=-69.4deg [env.py: 1019] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46619415 -1.0850344 -0.14560582] yaw=-42.6deg [env.py: 1019] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:59:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 01:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42726456 -1.02436234 -0.14560582] yaw=-53.2deg [env.py: 1019] +05/12 01:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 01:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 01:59:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.9ms, total=270.9ms [env.py: 1075] +05/12 01:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.645, -0.955, -0.146) [env.py: 1079] +05/12 01:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg [env.py: 1082] +05/12 01:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 01:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 01:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 01:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 01:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 01:59:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 01:59:44 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 01:59:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 01:59:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 01:59:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 01:59:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 01:59:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 01:59:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.646[m] 80.680[deg] [grasp_sample.py: 539] +05/12 01:59:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 01:59:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 01:59:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 01:59:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:00:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:00:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:00:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:00:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:00:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:00:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.829s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:00:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.473[m] 55.066[deg] [grasp_sample.py: 539] +05/12 02:00:15 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:00:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:00:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:00:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:00:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:00:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:00:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:00:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:00:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:00:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:00:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:00:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139221m [env.py: 870] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:00:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=155.4ms, total=155.5ms [env.py: 1105] +05/12 02:00:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:00:16 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:00:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:00:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:00:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:00:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:00:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:00:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:00:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168253m [env.py: 870] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:00:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60102513 -0.84086399 -0.16825275] yaw=-62.0deg [env.py: 1019] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:00:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.6ms [env.py: 1075] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.841, -0.168) [env.py: 1079] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 02:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:00:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:00:17 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 02:00:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 02:00:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:00:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:00:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:00:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.892s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:00:27 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.738[m] 91.901[deg] [grasp_sample.py: 539] +05/12 02:00:28 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:00:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:00:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:00:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:00:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:00:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:00:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:00:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180030m [env.py: 870] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:00:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34831842 -1.20191768 -0.18003037] yaw=-35.9deg [env.py: 1019] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:00:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=155.0ms, total=155.0ms [env.py: 1075] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -1.202, -0.180) [env.py: 1079] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.9 deg [env.py: 1082] +05/12 02:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:00:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:00:30 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 02:00:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:00:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:00:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:00:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:00:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.090s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:00:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.591[m] 74.839[deg] [grasp_sample.py: 539] +05/12 02:00:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:00:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:00:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:00:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:01:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:01:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:01:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:01:57 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:02:15 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 02:02:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:02:15 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/12 02:02:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:02:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 02:02:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.46s (batch: 2.80s, save: 7.65s) [pipeline.py: 300] +05/12 02:02:26 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.18s: + episode_total: mean=39.72s, total=158.88s, count=4, min=163.6ms, max=116040.6ms + sensor_polling: mean=306.5ms, total=92.56s, count=302, min=287.9ms, max=576.8ms + save_trajectories: mean=7.65s, total=7.65s, count=1, min=7653.1ms, max=7653.1ms + physics_step: mean=20.3ms, total=6.13s, count=302, min=14.2ms, max=28.7ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2802.1ms, max=2802.1ms + task_specific_sample: mean=332.2ms, total=1.33s, count=4, min=160.1ms, max=500.8ms + task_sampling: mean=392.4ms, total=1.18s, count=3, min=329.9ms, max=504.2ms + task_sampling_failed: mean=163.6ms, total=163.6ms, count=1, min=163.6ms, max=163.6ms + scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=1.0ms, max=2.2ms + mj_forward_sync: mean=403.8us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:02:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:02:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:02:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:02:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:02:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:02:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:02:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108720m [env.py: 870] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:02:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39826763 -1.1471953 -0.10872012] yaw=-42.1deg [env.py: 1019] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58025193 -0.71824759 -0.10872012] yaw=-65.0deg [env.py: 1019] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:02:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.4ms [env.py: 1075] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -1.147, -0.109) [env.py: 1079] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/12 02:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:02:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:02:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:02:27 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 02:02:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 02:02:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:02:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:02:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:02:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.534s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:02:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.694[m] 77.648[deg] [grasp_sample.py: 539] +05/12 02:02:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:02:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:02:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:02:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:03:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:03:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:03:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:04:05 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:04:23 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 02:04:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:04:23 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 02:04:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:04:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 02:04:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.55s (batch: 2.91s, save: 8.64s) [pipeline.py: 300] +05/12 02:04:35 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.38s: + episode_total: mean=127.88s, total=127.88s, count=1, min=127877.9ms, max=127877.9ms + sensor_polling: mean=312.1ms, total=85.83s, count=275, min=287.0ms, max=584.3ms + save_trajectories: mean=8.64s, total=8.64s, count=1, min=8641.9ms, max=8641.9ms + physics_step: mean=20.4ms, total=5.62s, count=275, min=14.5ms, max=25.9ms + save_batch_prep: mean=2.91s, total=2.91s, count=1, min=2910.3ms, max=2910.3ms + task_sampling: mean=379.2ms, total=379.2ms, count=1, min=379.2ms, max=379.2ms + task_specific_sample: mean=375.7ms, total=375.7ms, count=1, min=375.7ms, max=375.7ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=417.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:04:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:04:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:04:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:04:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:04:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:04:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:04:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193283m [env.py: 870] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:04:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62066909 -0.90301227 -0.19328265] yaw=-68.7deg [env.py: 1019] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:04:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.0ms, total=209.0ms [env.py: 1075] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.903, -0.193) [env.py: 1079] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg [env.py: 1082] +05/12 02:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:04:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:04:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:04:36 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 02:04:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 02:04:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:04:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:04:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:04:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.514s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:04:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.664[m] 84.788[deg] [grasp_sample.py: 539] +05/12 02:04:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:04:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:04:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:05:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:05:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:05:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:05:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:05:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.109s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:05:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.509[m] 60.242[deg] [grasp_sample.py: 539] +05/12 02:05:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:05:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:05:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:05:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:05:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:05:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:05:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:05:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.543s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:05:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.505[m] 59.589[deg] [grasp_sample.py: 539] +05/12 02:05:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:05:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:05:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:05:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:05:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:05:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:05:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:05:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.135s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:05:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.505[m] 59.591[deg] [grasp_sample.py: 539] +05/12 02:05:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:05:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:05:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:05:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:05:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 02:05:43 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 02:05:43 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=False episode_total=0.45s: + episode_total: mean=67.01s, total=67.01s, count=1, min=67009.3ms, max=67009.3ms + sensor_polling: mean=314.9ms, total=23.62s, count=75, min=296.1ms, max=563.1ms + physics_step: mean=17.8ms, total=1.33s, count=75, min=12.6ms, max=20.6ms + task_sampling: mean=447.0ms, total=447.0ms, count=1, min=447.0ms, max=447.0ms + task_specific_sample: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=422.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:05:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:05:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:05:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:05:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:05:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:05:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:05:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131755m [env.py: 870] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:05:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.4ms, total=186.4ms [env.py: 1105] +05/12 02:05:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:05:44 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:05:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:05:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:05:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:05:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:05:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109353m [env.py: 870] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.3ms, total=193.4ms [env.py: 1105] +05/12 02:05:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:05:46 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:05:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:05:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:05:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:05:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:05:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:05:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:05:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:05:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:05:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180866m [env.py: 870] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:05:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.6ms, total=188.6ms [env.py: 1105] +05/12 02:05:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:05:47 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:05:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:05:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:05:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:05:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:05:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:05:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:05:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:05:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:05:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134465m [env.py: 870] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:05:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62688165 -0.89570644 -0.13446459] yaw=-76.7deg [env.py: 1019] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41139021 -1.08195681 -0.13446459] yaw=-57.6deg [env.py: 1019] +05/12 02:05:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34858622 -0.93872019 -0.13446459] yaw=-60.9deg [env.py: 1019] +05/12 02:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:05:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=196.5ms, total=196.5ms [env.py: 1075] +05/12 02:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.627, -0.896, -0.134) [env.py: 1079] +05/12 02:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.7 deg [env.py: 1082] +05/12 02:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 02:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:05:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:05:49 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 02:05:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 02:05:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:05:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:05:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:05:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.728s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:05:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.727[m] 89.967[deg] [grasp_sample.py: 539] +05/12 02:05:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:05:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:05:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:06:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:06:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:06:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:06:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:06:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.658s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:06:22 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.552[m] 59.451[deg] [grasp_sample.py: 539] +05/12 02:06:23 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:06:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:06:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:06:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:06:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:06:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:06:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:06:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130508m [env.py: 870] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:06:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63598764 -0.82950979 -0.13050806] yaw=-74.0deg [env.py: 1019] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59200646 -0.73937378 -0.13050806] yaw=-74.8deg [env.py: 1019] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=469.0ms, total=469.1ms [env.py: 1075] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.830, -0.131) [env.py: 1079] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg [env.py: 1082] +05/12 02:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 02:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:06:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:06:25 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 02:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 02:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:06:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:06:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:06:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.536s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:06:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.752[m] 85.525[deg] [grasp_sample.py: 539] +05/12 02:06:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:06:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:06:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:06:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:06:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:06:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:06:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:06:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:06:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:06:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:06:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.515s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:06:58 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.598[m] 59.828[deg] [grasp_sample.py: 539] +05/12 02:06:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:06:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:06:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:07:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:07:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:07:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:07:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:07:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:07:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.269s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:07:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.566[m] 60.174[deg] [grasp_sample.py: 539] +05/12 02:07:12 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:07:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:07:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:07:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:07:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:07:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:07:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150252m [env.py: 870] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:07:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=164.2ms, total=164.2ms [env.py: 1105] +05/12 02:07:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:07:13 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:07:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:07:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:07:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:07:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:07:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:07:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159790m [env.py: 870] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:07:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31584792 -1.09497161 -0.15978967] yaw=-46.5deg [env.py: 1019] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:07:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=156.2ms, total=156.3ms [env.py: 1075] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.316, -1.095, -0.160) [env.py: 1079] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 02:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:07:15 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 02:07:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 02:07:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:07:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:07:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:07:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.538s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:07:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.696[m] 82.016[deg] [grasp_sample.py: 539] +05/12 02:07:20 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:07:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:07:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:07:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:07:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:07:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:07:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118172m [env.py: 870] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:07:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37219313 -0.88828925 -0.11817175] yaw=-63.1deg [env.py: 1019] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33905067 -0.84016421 -0.11817175] yaw=-61.7deg [env.py: 1019] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:07:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=192.9ms, total=193.0ms [env.py: 1075] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.888, -0.118) [env.py: 1079] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/12 02:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:07:21 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 02:07:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 02:07:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:07:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:07:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:07:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.039s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:07:23 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:07:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:07:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:07:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:07:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:07:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:07:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108374m [env.py: 870] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:07:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.8ms, total=187.9ms [env.py: 1105] +05/12 02:07:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:07:25 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:07:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:07:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:07:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:07:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:07:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:07:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173145m [env.py: 870] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:07:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43278754 -0.91482505 -0.17314454] yaw=-59.1deg [env.py: 1019] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:07:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms [env.py: 1075] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -0.915, -0.173) [env.py: 1079] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/12 02:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:07:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:07:26 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 02:07:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 02:07:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:07:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:07:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:07:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.162s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:07:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.722[m] 86.713[deg] [grasp_sample.py: 539] +05/12 02:07:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:07:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:07:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:08:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:08:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:08:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:08:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:08:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:08:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.961s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:08:39 INFO: [Worker 0] Feasible grasp found 502 (originally 502): w/ 0.265[m] 20.331[deg] [grasp_sample.py: 539] +05/12 02:08:40 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:08:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:08:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:08:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:08:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:08:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:08:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:08:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132185m [env.py: 870] +05/12 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:08:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=258.2ms, total=258.2ms [env.py: 1105] +05/12 02:08:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:08:42 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:08:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:08:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:08:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:08:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:08:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:08:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:08:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128293m [env.py: 870] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:08:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62686757 -0.80994872 -0.12829255] yaw=-64.7deg [env.py: 1019] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35329313 -1.08116344 -0.12829255] yaw=-48.5deg [env.py: 1019] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:08:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1075] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.627, -0.810, -0.128) [env.py: 1079] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 02:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:08:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:08:43 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 02:08:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 02:08:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:08:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:08:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:08:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.621s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:08:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.758[m] 85.995[deg] [grasp_sample.py: 539] +05/12 02:08:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:08:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:08:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:09:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:09:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:09:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:09:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:09:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:09:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.557s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:09:57 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.116[m] 10.395[deg] [grasp_sample.py: 539] +05/12 02:09:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:09:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:09:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:10:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:10:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:10:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:10:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:10:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:10:17 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.073[m] 6.677[deg] [grasp_sample.py: 539] +05/12 02:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:10:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:10:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:10:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:10:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:10:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:10:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:10:39 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.096[m] 11.993[deg] [grasp_sample.py: 539] +05/12 02:10:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:10:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:10:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:10:49 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 02:10:50 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 02:10:50 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=False episode_total=2.69s: + episode_total: mean=24.35s, total=292.26s, count=12, min=172.6ms, max=126698.0ms + sensor_polling: mean=306.3ms, total=137.22s, count=448, min=288.7ms, max=548.6ms + physics_step: mean=19.4ms, total=8.70s, count=448, min=12.9ms, max=24.1ms + task_specific_sample: mean=323.8ms, total=3.89s, count=12, min=168.7ms, max=706.8ms + task_sampling: mean=449.1ms, total=2.69s, count=6, min=355.0ms, max=709.1ms + task_sampling_failed: mean=204.9ms, total=1.23s, count=6, min=172.6ms, max=266.8ms + scene_randomize: mean=1.1ms, total=12.7ms, count=12, min=1.0ms, max=1.2ms + mj_forward_sync: mean=397.9us, total=4.8ms, count=12, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:10:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:10:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:10:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:10:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:10:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:10:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:10:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158348m [env.py: 870] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:10:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27102247 -1.13165709 -0.15834758] yaw=-39.2deg [env.py: 1019] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42155987 -1.04473897 -0.15834758] yaw=-54.2deg [env.py: 1019] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:10:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.6ms [env.py: 1075] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -1.132, -0.158) [env.py: 1079] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg [env.py: 1082] +05/12 02:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:10:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:10:51 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 02:10:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 02:10:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:10:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:10:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:10:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.839s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:10:58 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.680[m] 90.097[deg] [grasp_sample.py: 539] +05/12 02:10:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:10:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:10:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:10:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:11:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:11:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:11:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:12:31 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:12:49 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_006 [pipeline.py: 1174] +05/12 02:12:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:12:49 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 02:13:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:13:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006 [save_utils.py: 785] +05/12 02:13:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.88s (batch: 3.02s, save: 7.86s) [pipeline.py: 300] +05/12 02:13:00 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.41s: + episode_total: mean=129.18s, total=129.18s, count=1, min=129180.8ms, max=129180.8ms + sensor_polling: mean=314.2ms, total=85.16s, count=271, min=297.9ms, max=581.8ms + save_trajectories: mean=7.86s, total=7.86s, count=1, min=7862.0ms, max=7862.0ms + physics_step: mean=20.4ms, total=5.52s, count=271, min=14.5ms, max=25.2ms + save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3017.6ms, max=3017.6ms + task_sampling: mean=414.8ms, total=414.8ms, count=1, min=414.8ms, max=414.8ms + task_specific_sample: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=404.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:13:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:13:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:13:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135575m [env.py: 870] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=164.9ms, total=164.9ms [env.py: 1105] +05/12 02:13:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:13:02 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:13:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:13:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:13:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:13:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:13:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:13:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:13:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:13:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:13:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129786m [env.py: 870] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:13:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.0ms, total=163.0ms [env.py: 1105] +05/12 02:13:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:13:03 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:13:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:13:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:13:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:13:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:13:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:13:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:13:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108693m [env.py: 870] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:13:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.2ms, total=158.3ms [env.py: 1105] +05/12 02:13:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:13:04 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:13:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:13:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:13:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:13:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:13:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180581m [env.py: 870] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27909369 -0.95944832 -0.18058064] yaw=-56.6deg [env.py: 1019] +05/12 02:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.4ms [env.py: 1075] +05/12 02:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -0.959, -0.181) [env.py: 1079] +05/12 02:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/12 02:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 02:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:13:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:13:06 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 02:13:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 02:13:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:13:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:13:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:13:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.966s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:13:17 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.752[m] 95.699[deg] [grasp_sample.py: 539] +05/12 02:13:18 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:13:19 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 02:13:19 WARNING: [Worker 0] No trajectory data to save for chunk_006 [pipeline.py: 234] +05/12 02:13:19 INFO: [Worker 0] Worker 0 completed house 1: 16/20 successful episodes [pipeline.py: 1323] +05/12 02:13:19 INFO: [Worker 0] [PROFILE] House 1 complete: 16/20 successful, 20 episodes, total_time=5498.94s + House averages: + episode_total: mean=44.16s, total=3179.78s, count=72, min=163.6ms, max=160336.7ms + sensor_polling: mean=332.1ms, total=1930.22s, count=5812, min=287.0ms, max=809.0ms + save_trajectories: mean=9.04s, total=144.70s, count=16, min=7653.1ms, max=11284.2ms + physics_step: mean=21.8ms, total=126.63s, count=5812, min=12.6ms, max=96.0ms + save_batch_prep: mean=3.27s, total=52.33s, count=16, min=2684.1ms, max=4017.3ms + task_specific_sample: mean=379.4ms, total=27.31s, count=72, min=160.1ms, max=1008.2ms + task_sampling: mean=533.1ms, total=25.59s, count=48, min=329.9ms, max=3578.9ms + task_sampling_failed: mean=208.9ms, total=5.01s, count=24, min=163.5ms, max=319.1ms + scene_load: mean=3.07s, total=3.07s, count=1, min=3068.0ms, max=3068.0ms + scene_env_create: mean=1.92s, total=1.92s, count=1, min=1916.6ms, max=1916.6ms + scene_compile: mean=1.01s, total=1.01s, count=1, min=1009.2ms, max=1009.2ms + compile_mujoco: mean=608.3ms, total=608.3ms, count=1, min=608.3ms, max=608.3ms + compile_xml_load: mean=319.5ms, total=319.5ms, count=1, min=319.5ms, max=319.5ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + scene_randomize: mean=1.3ms, total=96.7ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + scene_asset_install: mean=45.3ms, total=45.3ms, count=1, min=45.3ms, max=45.3ms + mj_forward_sync: mean=425.1us, total=30.6ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=15.6us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 02:13:19 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 02:13:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=5498.94s + Worker averages: + episode_total: mean=44.16s, total=3179.78s, count=72, min=163.6ms, max=160336.7ms + sensor_polling: mean=332.1ms, total=1930.22s, count=5812, min=287.0ms, max=809.0ms + save_trajectories: mean=9.04s, total=144.70s, count=16, min=7653.1ms, max=11284.2ms + physics_step: mean=21.8ms, total=126.63s, count=5812, min=12.6ms, max=96.0ms + save_batch_prep: mean=3.27s, total=52.33s, count=16, min=2684.1ms, max=4017.3ms + task_specific_sample: mean=379.4ms, total=27.31s, count=72, min=160.1ms, max=1008.2ms + task_sampling: mean=533.1ms, total=25.59s, count=48, min=329.9ms, max=3578.9ms + task_sampling_failed: mean=208.9ms, total=5.01s, count=24, min=163.5ms, max=319.1ms + scene_load: mean=3.07s, total=3.07s, count=1, min=3068.0ms, max=3068.0ms + scene_env_create: mean=1.92s, total=1.92s, count=1, min=1916.6ms, max=1916.6ms + scene_compile: mean=1.01s, total=1.01s, count=1, min=1009.2ms, max=1009.2ms + compile_mujoco: mean=608.3ms, total=608.3ms, count=1, min=608.3ms, max=608.3ms + compile_xml_load: mean=319.5ms, total=319.5ms, count=1, min=319.5ms, max=319.5ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + scene_randomize: mean=1.3ms, total=96.7ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + scene_asset_install: mean=45.3ms, total=45.3ms, count=1, min=45.3ms, max=45.3ms + mj_forward_sync: mean=425.1us, total=30.6ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms + compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=15.6us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 02:13:21 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 02:13:21 INFO: Success count: 16, Total count: 20 [pipeline.py: 1491] +05/12 02:13:21 INFO: Success rate: 80.00% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_007/experiment_config_20260512_021441.pkl b/3drawers/sim_chunks/chunk_007/experiment_config_20260512_021441.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f4647e7a6bad20d896acb748393b7f743e0cad15 --- /dev/null +++ b/3drawers/sim_chunks/chunk_007/experiment_config_20260512_021441.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:992f5298680117b6f400ae5b1326c80b92d01beef66dd984b38a1899c28ecf70 +size 8146 diff --git a/3drawers/sim_chunks/chunk_007/running_log.log b/3drawers/sim_chunks/chunk_007/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..0ff16f11c948992d23e4006138e048ba83b87ae4 --- /dev/null +++ b/3drawers/sim_chunks/chunk_007/running_log.log @@ -0,0 +1,14126 @@ +05/12 02:14:41 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 02:14:41 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 02:14:41 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 02:14:41 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_007'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40703, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 02:14:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 02:14:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 02:14:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 02:14:41 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 02:14:41 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 02:14:41 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 02:14:41 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_007'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40701, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 02:14:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 02:14:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 02:14:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 02:14:41 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 02:14:41 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 02:14:41 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 02:14:41 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_007'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40702, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 02:14:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 02:14:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 02:14:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 02:14:41 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 02:14:41 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 02:14:41 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 02:14:41 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_007'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40704, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 02:14:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 02:14:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 02:14:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 02:14:42 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 02:14:42 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 02:14:42 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 02:14:42 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 02:14:45 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 02:14:45 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 02:14:45 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 02:14:45 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 02:14:45 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 02:14:45 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 02:14:45 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 02:14:45 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 02:14:45 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 02:14:45 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 02:14:45 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 02:14:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:14:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:14:45 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 02:14:45 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:45 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 02:14:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:45 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:45 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 02:14:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:14:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153506m [env.py: 870] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:14:45 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 02:14:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:14:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:14:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:14:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114878m [env.py: 870] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:14:45 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:14:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168550m [env.py: 870] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:14:45 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 02:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:14:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170710m [env.py: 870] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:14:45 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17890356 -0.98792966 -0.16854993] yaw=-54.1deg [env.py: 1019] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56403807 -0.92150759 -0.16854993] yaw=-56.2deg [env.py: 1019] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:14:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.3ms, retries=228.5ms, total=244.8ms [env.py: 1075] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -0.988, -0.169) [env.py: 1079] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 02:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.3ms, retries=241.3ms, total=257.6ms [env.py: 1105] +05/12 02:14:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:14:46 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:14:46 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35663785 -0.98898682 -0.15350577] yaw=-43.7deg [env.py: 1019] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43780057 -1.06867201 -0.17071049] yaw=-55.1deg [env.py: 1019] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27877826 -1.21526949 -0.15350577] yaw=-28.0deg [env.py: 1019] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.3ms, retries=722.2ms, total=738.4ms [env.py: 1075] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -0.989, -0.154) [env.py: 1079] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.0ms, retries=835.3ms, total=851.2ms [env.py: 1075] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.069, -0.171) [env.py: 1079] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 02:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:14:46 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 02:14:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:14:46 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 02:14:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:14:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:14:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:14:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:14:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:14:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:14:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161802m [env.py: 870] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:14:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=354.9ms, total=354.9ms [env.py: 1105] +05/12 02:14:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:14:47 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:14:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:14:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:14:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173535m [env.py: 870] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=358.7ms, total=358.7ms [env.py: 1105] +05/12 02:14:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:14:48 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:14:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:14:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:14:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:14:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:14:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:14:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181494m [env.py: 870] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:14:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19967693 -1.13870458 -0.18149355] yaw=-48.9deg [env.py: 1019] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22626812 -1.05357128 -0.18149355] yaw=-35.6deg [env.py: 1019] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:14:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=251.6ms, total=251.6ms [env.py: 1075] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.139, -0.181) [env.py: 1079] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 02:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:14:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:14:50 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:14 INFO: [Worker 0] Warmed up parallel IK solver in 28.334s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:16 INFO: [Worker 0] Warmed up parallel IK solver in 29.740s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.931s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:15:16 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:15:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:17 INFO: [Worker 0] Warmed up parallel IK solver in 30.591s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196937m [env.py: 870] +05/12 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28519834 -0.94246605 -0.19693715] yaw=-55.9deg [env.py: 1019] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.6ms, total=254.6ms [env.py: 1075] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -0.942, -0.197) [env.py: 1079] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/12 02:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 02:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:18 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.713s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:15:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.645[m] 77.165[deg] [grasp_sample.py: 539] +05/12 02:15:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:15:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:15:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:15:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:15:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.561s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:15:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.736[m] 83.255[deg] [grasp_sample.py: 539] +05/12 02:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 31.022s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:21 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:15:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169483m [env.py: 870] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16807968 -0.98558829 -0.16948291] yaw=-48.0deg [env.py: 1019] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.8ms [env.py: 1075] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -0.986, -0.169) [env.py: 1079] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg [env.py: 1082] +05/12 02:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:23 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:15:23 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.767[m] 87.233[deg] [grasp_sample.py: 539] +05/12 02:15:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.315s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:15:24 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:15:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.187s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:15:24 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.685[m] 91.092[deg] [grasp_sample.py: 539] +05/12 02:15:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:15:25 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:15:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:15:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:15:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:15:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179260m [env.py: 870] +05/12 02:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49574612 -0.83240054 -0.17926043] yaw=-63.7deg [env.py: 1019] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=374.1ms, total=374.2ms [env.py: 1075] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.832, -0.179) [env.py: 1079] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126753m [env.py: 870] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:26 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.5ms, total=203.5ms [env.py: 1105] +05/12 02:15:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:15:26 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:15:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.182s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120148m [env.py: 870] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44384928 -0.86273382 -0.12014771] yaw=-50.1deg [env.py: 1019] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27355712 -0.88984853 -0.12014771] yaw=-45.3deg [env.py: 1019] +05/12 02:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.7ms, total=216.8ms [env.py: 1075] +05/12 02:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.444, -0.863, -0.120) [env.py: 1079] +05/12 02:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/12 02:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 02:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:28 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.639s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:15:33 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.744[m] 90.182[deg] [grasp_sample.py: 539] +05/12 02:15:34 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112158m [env.py: 870] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.1ms, total=202.2ms [env.py: 1105] +05/12 02:15:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:15:35 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:15:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155263m [env.py: 870] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18664883 -1.10046876 -0.15526291] yaw=-45.9deg [env.py: 1019] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.9ms, total=211.0ms [env.py: 1075] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -1.100, -0.155) [env.py: 1079] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 02:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:37 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:15:39 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.827[m] 87.131[deg] [grasp_sample.py: 539] +05/12 02:15:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:15:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:15:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:15:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:15:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:15:47 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.747[m] 86.053[deg] [grasp_sample.py: 539] +05/12 02:15:48 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122166m [env.py: 870] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.40669602 -0.85161101 -0.12216597] yaw=-61.5deg [env.py: 1019] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1075] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -0.852, -0.122) [env.py: 1079] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg [env.py: 1082] +05/12 02:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 02:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:50 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.296s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:15:51 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:15:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112362m [env.py: 870] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49125013 -0.78396531 -0.11236207] yaw=-68.4deg [env.py: 1019] +05/12 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.2ms, total=200.2ms [env.py: 1075] +05/12 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.784, -0.112) [env.py: 1079] +05/12 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.4 deg [env.py: 1082] +05/12 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:53 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.464s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:15:54 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161452m [env.py: 870] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31327978 -0.86126071 -0.16145189] yaw=-65.2deg [env.py: 1019] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50246518 -1.05562202 -0.16145189] yaw=-55.3deg [env.py: 1019] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27914156 -1.09023334 -0.16145189] yaw=-49.4deg [env.py: 1019] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=111.1ms, total=111.2ms [env.py: 1075] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.861, -0.161) [env.py: 1079] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/12 02:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:15:56 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 02:15:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:15:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:15:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:15:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:15:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:15:57 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:15:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:15:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:15:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:15:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:15:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:15:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:15:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171909m [env.py: 870] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:15:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:15:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.2ms, total=199.2ms [env.py: 1105] +05/12 02:15:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:15:59 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:16:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:16:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:16:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:16:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:16:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:16:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:16:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162846m [env.py: 870] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:16:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.564 -0.7994399 -0.16284612] yaw=-57.9deg [env.py: 1019] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:16:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.2ms, total=203.3ms [env.py: 1075] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.799, -0.163) [env.py: 1079] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/12 02:16:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:16:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:16:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:16:00 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 02:16:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:16:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:16:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:16:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:16:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:16:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.445s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:16:16 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.785[m] 90.725[deg] [grasp_sample.py: 539] +05/12 02:16:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:16:17 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:16:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:16:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:16:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123929m [env.py: 870] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41816327 -0.80785099 -0.12392941] yaw=-60.0deg [env.py: 1019] +05/12 02:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:16:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.5ms, total=190.6ms [env.py: 1075] +05/12 02:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.808, -0.124) [env.py: 1079] +05/12 02:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 02:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 02:16:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:16:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:16:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:16:19 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 02:16:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:16:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:16:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:16:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.244s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:16:20 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:16:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:16:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:16:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:16:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:16:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:16:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:16:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:16:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187222m [env.py: 870] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:16:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.4ms, total=190.4ms [env.py: 1105] +05/12 02:16:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:16:22 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:16:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:16:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:16:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:16:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109265m [env.py: 870] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35068611 -1.19937528 -0.10926471] yaw=-39.5deg [env.py: 1019] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms [env.py: 1075] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -1.199, -0.109) [env.py: 1079] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.5 deg [env.py: 1082] +05/12 02:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:16:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:16:23 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 02:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/12 02:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:16:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:16:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:16:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:16:27 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.668[m] 87.531[deg] [grasp_sample.py: 539] +05/12 02:16:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:16:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:16:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:16:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:16:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:16:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:16:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:16:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:16:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:16:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:17:01 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:17:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:17:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:17:18 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 02:17:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:17:23 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:17:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:17:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:17:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:17:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:17:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.94s (batch: 2.88s, save: 10.07s) [pipeline.py: 300] +05/12 02:17:32 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.21s: + episode_total: mean=170.77s, total=170.77s, count=1, min=170765.0ms, max=170765.0ms + sensor_polling: mean=339.2ms, total=89.20s, count=263, min=297.3ms, max=581.5ms + save_trajectories: mean=10.07s, total=10.07s, count=1, min=10066.2ms, max=10066.2ms + physics_step: mean=22.8ms, total=6.01s, count=263, min=19.6ms, max=69.0ms + task_sampling: mean=5.21s, total=5.21s, count=1, min=5208.0ms, max=5208.0ms + scene_load: mean=4.10s, total=4.10s, count=1, min=4104.9ms, max=4104.9ms + save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2875.9ms, max=2875.9ms + scene_env_create: mean=2.23s, total=2.23s, count=1, min=2230.3ms, max=2230.3ms + scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.1ms, max=1709.1ms + task_specific_sample: mean=1.10s, total=1.10s, count=1, min=1099.0ms, max=1099.0ms + compile_mujoco: mean=940.6ms, total=940.6ms, count=1, min=940.6ms, max=940.6ms + compile_xml_load: mean=676.4ms, total=676.4ms, count=1, min=676.4ms, max=676.4ms + scene_init: mean=95.3ms, total=95.3ms, count=1, min=95.3ms, max=95.3ms + scene_asset_install: mean=69.9ms, total=69.9ms, count=1, min=69.9ms, max=69.9ms + compile_aux_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + compile_aux_policy_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + asset_install_grasps: mean=47.0ms, total=47.0ms, count=1, min=47.0ms, max=47.0ms + compile_robot_add: mean=33.2ms, total=33.2ms, count=1, min=33.2ms, max=33.2ms + asset_install_objects: mean=16.0ms, total=16.0ms, count=1, min=16.0ms, max=16.0ms + asset_install_scene: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + scene_randomize: mean=943.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=354.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=39.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:17:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:17:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:17:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:17:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:17:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:17:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:17:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187810m [env.py: 870] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:17:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=215.9ms, total=216.0ms [env.py: 1105] +05/12 02:17:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:17:34 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:17:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:17:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:17:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:17:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:17:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:17:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:17:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:17:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177493m [env.py: 870] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:17:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20071982 -1.15148975 -0.17749294] yaw=-29.8deg [env.py: 1019] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23449687 -0.90952653 -0.17749294] yaw=-45.1deg [env.py: 1019] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:17:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=390.1ms, total=390.1ms [env.py: 1075] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -1.151, -0.177) [env.py: 1079] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.8 deg [env.py: 1082] +05/12 02:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:17:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:17:35 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 02:17:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 02:17:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:17:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:17:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:17:41 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:17:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:17:41 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 02:17:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.065s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:17:45 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.741[m] 83.279[deg] [grasp_sample.py: 539] +05/12 02:17:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:17:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:17:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:17:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:17:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:17:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.99s (batch: 3.88s, save: 9.12s) [pipeline.py: 300] +05/12 02:17:55 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.92s: + episode_total: mean=193.34s, total=193.34s, count=1, min=193341.8ms, max=193341.8ms + sensor_polling: mean=377.5ms, total=103.45s, count=274, min=288.4ms, max=612.0ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9116.8ms, max=9116.8ms + physics_step: mean=23.9ms, total=6.55s, count=274, min=14.9ms, max=53.4ms + task_sampling: mean=4.92s, total=4.92s, count=1, min=4919.5ms, max=4919.5ms + scene_load: mean=3.89s, total=3.89s, count=1, min=3890.9ms, max=3890.9ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.3ms, max=3877.3ms + scene_env_create: mean=2.25s, total=2.25s, count=1, min=2253.7ms, max=2253.7ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1483.4ms, max=1483.4ms + task_specific_sample: mean=1.03s, total=1.03s, count=1, min=1025.6ms, max=1025.6ms + compile_mujoco: mean=908.9ms, total=908.9ms, count=1, min=908.9ms, max=908.9ms + compile_xml_load: mean=482.4ms, total=482.4ms, count=1, min=482.4ms, max=482.4ms + scene_init: mean=98.5ms, total=98.5ms, count=1, min=98.5ms, max=98.5ms + scene_asset_install: mean=55.1ms, total=55.1ms, count=1, min=55.1ms, max=55.1ms + compile_aux_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + compile_aux_policy_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + scene_randomize: mean=894.0us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=354.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=28.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:17:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:17:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:17:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 02:17:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:17:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:17:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:17:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:17:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:17:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:17:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:17:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:17:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189715m [env.py: 870] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:17:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.7ms, total=182.8ms [env.py: 1105] +05/12 02:17:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:17:56 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:17:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:17:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:17:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:17:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114653m [env.py: 870] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.5ms, total=204.6ms [env.py: 1105] +05/12 02:17:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:17:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:17:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:17:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:17:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:17:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187119m [env.py: 870] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:17:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.2ms, total=202.2ms [env.py: 1105] +05/12 02:17:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:17:59 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:18:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:18:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:18:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:18:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:18:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:18:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:18:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163263m [env.py: 870] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:18:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38583399 -1.074997 -0.16326265] yaw=-56.7deg [env.py: 1019] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.3ms, total=232.4ms [env.py: 1075] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.075, -0.163) [env.py: 1079] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 02:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:18:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:18:01 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 02:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 02:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:18:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:18:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:18:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.637[m] 92.984[deg] [grasp_sample.py: 539] +05/12 02:18:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:18:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:18:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:18:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:18:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:18:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.78s (batch: 3.75s, save: 10.04s) [pipeline.py: 300] +05/12 02:18:09 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.99s: + episode_total: mean=33.74s, total=202.44s, count=6, min=211.6ms, max=161767.9ms + sensor_polling: mean=352.6ms, total=105.78s, count=300, min=297.1ms, max=557.6ms + save_trajectories: mean=10.04s, total=10.04s, count=1, min=10037.2ms, max=10037.2ms + physics_step: mean=23.2ms, total=6.97s, count=300, min=19.6ms, max=66.9ms + task_sampling_failed: mean=1.31s, total=5.23s, count=4, min=211.6ms, max=4274.2ms + scene_load: mean=4.01s, total=4.01s, count=1, min=4008.5ms, max=4008.5ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3747.6ms, max=3747.6ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2284.6ms, max=2284.6ms + task_specific_sample: mean=362.6ms, total=2.18s, count=6, min=208.4ms, max=541.8ms + scene_compile: mean=1.57s, total=1.57s, count=1, min=1569.3ms, max=1569.3ms + task_sampling: mean=492.5ms, total=985.0ms, count=2, min=441.2ms, max=543.8ms + compile_mujoco: mean=882.8ms, total=882.8ms, count=1, min=882.8ms, max=882.8ms + compile_xml_load: mean=592.9ms, total=592.9ms, count=1, min=592.9ms, max=592.9ms + scene_init: mean=94.0ms, total=94.0ms, count=1, min=94.0ms, max=94.0ms + scene_asset_install: mean=60.3ms, total=60.3ms, count=1, min=60.3ms, max=60.3ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms + scene_randomize: mean=1.0ms, total=6.1ms, count=6, min=0.9ms, max=1.2ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=389.7us, total=2.3ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:18:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:18:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:18:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:18:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:18:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:18:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:18:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:18:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:18:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198185m [env.py: 870] +05/12 02:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:18:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39282858 -1.04081209 -0.19818521] yaw=-50.8deg [env.py: 1019] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:18:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=283.8ms, total=283.9ms [env.py: 1075] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -1.041, -0.198) [env.py: 1079] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 02:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 02:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:18:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:18:11 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 02:18:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 02:18:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:18:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:18:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:18:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.092s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:18:14 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.657[m] 86.376[deg] [grasp_sample.py: 539] +05/12 02:18:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:18:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:18:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:18:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:18:17 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:18:36 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:18:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:18:36 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 02:18:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:18:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:18:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:18:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:18:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.14s (batch: 3.42s, save: 8.72s) [pipeline.py: 300] +05/12 02:18:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:18:49 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=8.51s: + episode_total: mean=16.54s, total=231.57s, count=14, min=198.6ms, max=146306.0ms + sensor_polling: mean=373.8ms, total=101.30s, count=271, min=313.8ms, max=527.3ms + save_trajectories: mean=8.72s, total=8.72s, count=1, min=8719.8ms, max=8719.8ms + task_sampling: mean=773.4ms, total=8.51s, count=11, min=311.7ms, max=4284.1ms + physics_step: mean=23.0ms, total=6.23s, count=271, min=15.3ms, max=39.1ms + task_specific_sample: mean=378.6ms, total=5.30s, count=14, min=195.6ms, max=604.8ms + scene_load: mean=3.79s, total=3.79s, count=1, min=3790.3ms, max=3790.3ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3416.5ms, max=3416.5ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2277.4ms, max=2277.4ms + scene_compile: mean=1.37s, total=1.37s, count=1, min=1373.4ms, max=1373.4ms + compile_mujoco: mean=893.7ms, total=893.7ms, count=1, min=893.7ms, max=893.7ms + task_sampling_failed: mean=205.4ms, total=616.2ms, count=3, min=198.5ms, max=210.0ms + compile_xml_load: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms + scene_init: mean=95.1ms, total=95.1ms, count=1, min=95.1ms, max=95.1ms + compile_aux_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + compile_aux_policy_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + scene_randomize: mean=1.0ms, total=14.2ms, count=14, min=0.9ms, max=1.2ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + mj_forward_sync: mean=405.6us, total=5.7ms, count=14, min=0.4ms, max=0.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=19.0us, total=0.2ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:18:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:18:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:18:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:18:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:18:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:18:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:18:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117977m [env.py: 870] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:18:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5933512 -0.80042055 -0.11797739] yaw=-68.9deg [env.py: 1019] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:18:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.2ms [env.py: 1075] +05/12 02:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.800, -0.118) [env.py: 1079] +05/12 02:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg [env.py: 1082] +05/12 02:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 02:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:18:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:18:51 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 02:18:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 02:18:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:18:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:18:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:18:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:19:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:19:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:19:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:19:03 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.793[m] 97.390[deg] [grasp_sample.py: 539] +05/12 02:19:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:19:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:19:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:19:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:19:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:19:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:19:32 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:19:47 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:19:54 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:19:54 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:19:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:19:54 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 02:20:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:20:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:20:06 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 02:20:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:20:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:20:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.21s (batch: 3.72s, save: 9.49s) [pipeline.py: 300] +05/12 02:20:08 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s: + episode_total: mean=76.75s, total=153.49s, count=2, min=230.6ms, max=153260.5ms + sensor_polling: mean=344.5ms, total=98.18s, count=285, min=301.0ms, max=484.7ms + save_trajectories: mean=9.49s, total=9.49s, count=1, min=9493.9ms, max=9493.9ms + physics_step: mean=22.5ms, total=6.41s, count=285, min=14.8ms, max=50.5ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3716.4ms, max=3716.4ms + task_specific_sample: mean=412.3ms, total=824.6ms, count=2, min=224.6ms, max=600.0ms + task_sampling: mean=602.7ms, total=602.7ms, count=1, min=602.7ms, max=602.7ms + task_sampling_failed: mean=230.5ms, total=230.5ms, count=1, min=230.5ms, max=230.5ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms + mj_forward_sync: mean=518.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:20:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193700m [env.py: 870] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.8ms, total=208.9ms [env.py: 1105] +05/12 02:20:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:10 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181713m [env.py: 870] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.16704955 -1.05354308 -0.18171302] yaw=-46.1deg [env.py: 1019] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.1ms [env.py: 1075] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -1.054, -0.182) [env.py: 1079] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 02:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:11 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:20:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:13 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:20:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:20:13 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 02:20:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:20:13 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:20:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183044m [env.py: 870] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=373.0ms, total=373.0ms [env.py: 1105] +05/12 02:20:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:15 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:20:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178774m [env.py: 870] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=412.4ms, total=412.4ms [env.py: 1105] +05/12 02:20:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:16 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:20:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169841m [env.py: 870] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=233.3ms, total=233.4ms [env.py: 1105] +05/12 02:20:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:18 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:20:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:20:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.17s (batch: 2.99s, save: 9.18s) [pipeline.py: 300] +05/12 02:20:19 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s: + episode_total: mean=34.74s, total=138.95s, count=4, min=192.9ms, max=138338.7ms + sensor_polling: mean=350.1ms, total=92.77s, count=265, min=305.2ms, max=551.1ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9178.9ms, max=9178.9ms + physics_step: mean=22.4ms, total=5.94s, count=265, min=14.7ms, max=32.4ms + save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2993.0ms, max=2993.0ms + task_specific_sample: mean=263.6ms, total=1.05s, count=4, min=188.8ms, max=448.9ms + task_sampling_failed: mean=205.2ms, total=615.7ms, count=3, min=192.9ms, max=212.5ms + task_sampling: mean=451.1ms, total=451.1ms, count=1, min=451.1ms, max=451.1ms + scene_randomize: mean=1.3ms, total=5.4ms, count=4, min=0.9ms, max=2.4ms + mj_forward_sync: mean=401.8us, total=1.6ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:20:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145686m [env.py: 870] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=244.8ms, total=244.9ms [env.py: 1105] +05/12 02:20:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:19 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134597m [env.py: 870] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41301551 -0.84650143 -0.13459734] yaw=-63.2deg [env.py: 1019] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.561656 -0.79371546 -0.13459734] yaw=-73.7deg [env.py: 1019] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.8ms, total=174.9ms [env.py: 1075] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.847, -0.135) [env.py: 1079] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg [env.py: 1082] +05/12 02:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:21 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190643m [env.py: 870] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41466603 -0.95798867 -0.19064289] yaw=-53.6deg [env.py: 1019] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17095731 -1.08868776 -0.19064289] yaw=-48.2deg [env.py: 1019] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:20:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3641145 -0.9050631 -0.19064289] yaw=-59.6deg [env.py: 1019] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.4ms [env.py: 1075] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -0.958, -0.191) [env.py: 1079] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg [env.py: 1082] +05/12 02:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:21 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.826s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:20:23 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:20:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102767m [env.py: 870] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.5ms, total=187.6ms [env.py: 1105] +05/12 02:20:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:24 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:20:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:20:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.54s (batch: 3.23s, save: 9.31s) [pipeline.py: 300] +05/12 02:20:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144108m [env.py: 870] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49600065 -0.88718245 -0.14410818] yaw=-68.3deg [env.py: 1019] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.0ms, total=219.0ms [env.py: 1075] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.887, -0.144) [env.py: 1079] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 02:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 02:20:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:26 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:26 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.50s: + episode_total: mean=135.47s, total=135.47s, count=1, min=135469.4ms, max=135469.4ms + sensor_polling: mean=336.0ms, total=89.70s, count=267, min=297.0ms, max=533.3ms + save_trajectories: mean=9.31s, total=9.31s, count=1, min=9306.1ms, max=9306.1ms + physics_step: mean=22.2ms, total=5.93s, count=267, min=19.7ms, max=36.8ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3232.8ms, max=3232.8ms + task_sampling: mean=504.1ms, total=504.1ms, count=1, min=504.1ms, max=504.1ms + task_specific_sample: mean=500.7ms, total=500.7ms, count=1, min=500.7ms, max=500.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=370.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185439m [env.py: 870] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.6ms, total=194.6ms [env.py: 1105] +05/12 02:20:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:27 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.897s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:20:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.744[m] 96.783[deg] [grasp_sample.py: 539] +05/12 02:20:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114542m [env.py: 870] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=162.7ms, total=162.7ms [env.py: 1105] +05/12 02:20:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:29 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:29 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:20:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.104s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:20:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.691[m] 88.365[deg] [grasp_sample.py: 539] +05/12 02:20:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:20:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:20:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:20:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107132m [env.py: 870] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197796m [env.py: 870] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09902863 -1.03663284 -0.10713185] yaw=-34.9deg [env.py: 1019] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.6ms, total=177.6ms [env.py: 1075] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -1.037, -0.107) [env.py: 1079] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg [env.py: 1082] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:20:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:30 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=473.8ms, total=473.8ms [env.py: 1105] +05/12 02:20:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:31 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170105m [env.py: 870] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.439s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:20:32 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=311.0ms, total=311.0ms [env.py: 1105] +05/12 02:20:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:32 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152118m [env.py: 870] +05/12 02:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=180.4ms, total=180.5ms [env.py: 1105] +05/12 02:20:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:20:34 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:20:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153302m [env.py: 870] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3458223 -0.96862468 -0.15330176] yaw=-47.9deg [env.py: 1019] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37292955 -1.12164841 -0.15330176] yaw=-44.0deg [env.py: 1019] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4104762 -0.91094746 -0.15330176] yaw=-52.9deg [env.py: 1019] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.2ms, total=152.2ms [env.py: 1075] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -0.969, -0.153) [env.py: 1079] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:34 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128573m [env.py: 870] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37917334 -1.00929078 -0.12857272] yaw=-57.6deg [env.py: 1019] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.4ms, total=192.5ms [env.py: 1075] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -1.009, -0.129) [env.py: 1079] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 02:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:35 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.787s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:20:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.743[m] 77.482[deg] [grasp_sample.py: 539] +05/12 02:20:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:20:39 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.732[m] 92.297[deg] [grasp_sample.py: 539] +05/12 02:20:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:20:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:20:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:20:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:20:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:20:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:20:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:20:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:20:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 32.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:20:50 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 02:20:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148397m [env.py: 870] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29294112 -0.96407823 -0.14839657] yaw=-38.8deg [env.py: 1019] +05/12 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=472.2ms, total=472.3ms [env.py: 1075] +05/12 02:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.964, -0.148) [env.py: 1079] +05/12 02:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg [env.py: 1082] +05/12 02:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 02:20:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:52 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.387s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:20:53 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.760[m] 85.140[deg] [grasp_sample.py: 539] +05/12 02:20:54 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:20:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:20:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:20:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:20:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:20:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:20:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152569m [env.py: 870] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:20:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36262608 -1.06997399 -0.15256929] yaw=-52.4deg [env.py: 1019] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:20:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=320.5ms, total=320.5ms [env.py: 1075] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -1.070, -0.153) [env.py: 1079] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg [env.py: 1082] +05/12 02:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:20:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:20:56 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 02:20:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 02:20:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:20:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:20:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:20:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:20:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.705[m] 91.678[deg] [grasp_sample.py: 539] +05/12 02:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:20:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:20:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:20:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:21:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:21:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:21:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:21:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:21:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:21:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:21:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:21:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:21:41 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.074[m] 33.117[deg] [grasp_sample.py: 539] +05/12 02:21:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:21:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:21:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:21:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:21:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:21:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:21:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:21:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:21:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:21:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:21:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:22:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:22:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:22:26 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:22:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:22:37 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:22:46 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:22:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:22:46 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 02:22:50 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:22:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:22:50 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 02:22:51 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:22:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:22:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:22:57 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/12 02:22:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:22:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:22:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.02s (batch: 3.61s, save: 9.42s) [pipeline.py: 300] +05/12 02:23:00 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.91s: + episode_total: mean=29.53s, total=147.64s, count=5, min=170.2ms, max=144864.6ms + sensor_polling: mean=348.8ms, total=98.36s, count=282, min=303.7ms, max=666.8ms + save_trajectories: mean=9.42s, total=9.42s, count=1, min=9416.8ms, max=9416.8ms + physics_step: mean=22.5ms, total=6.33s, count=282, min=14.7ms, max=54.2ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.8ms, max=3607.8ms + task_specific_sample: mean=290.7ms, total=1.45s, count=5, min=167.3ms, max=511.1ms + task_sampling: mean=452.6ms, total=905.1ms, count=2, min=392.0ms, max=513.1ms + task_sampling_failed: mean=187.6ms, total=562.8ms, count=3, min=170.2ms, max=204.2ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.4ms + mj_forward_sync: mean=429.3us, total=2.1ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=19.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:23:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172331m [env.py: 870] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41678812 -1.07739922 -0.1723311 ] yaw=-53.0deg [env.py: 1019] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.5ms, total=182.5ms [env.py: 1075] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -1.077, -0.172) [env.py: 1079] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 02:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:02 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:23:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:23:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.62s (batch: 3.32s, save: 9.30s) [pipeline.py: 300] +05/12 02:23:04 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.90s: + episode_total: mean=23.80s, total=166.63s, count=7, min=221.4ms, max=163034.3ms + sensor_polling: mean=371.4ms, total=102.89s, count=277, min=305.0ms, max=580.2ms + save_trajectories: mean=9.30s, total=9.30s, count=1, min=9300.0ms, max=9300.0ms + physics_step: mean=23.7ms, total=6.57s, count=277, min=19.4ms, max=60.8ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3321.4ms, max=3321.4ms + task_specific_sample: mean=342.0ms, total=2.39s, count=7, min=214.8ms, max=446.9ms + task_sampling_failed: mean=305.7ms, total=1.53s, count=5, min=221.4ms, max=427.3ms + task_sampling: mean=448.2ms, total=896.4ms, count=2, min=447.2ms, max=449.2ms + scene_randomize: mean=1.3ms, total=8.8ms, count=7, min=1.0ms, max=2.2ms + mj_forward_sync: mean=439.2us, total=3.1ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:23:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.806s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.611[m] 89.376[deg] [grasp_sample.py: 539] +05/12 02:23:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:23:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172825m [env.py: 870] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:23:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.236824 -0.97216497 -0.17282507] yaw=-52.2deg [env.py: 1019] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=173.5ms, total=173.6ms [env.py: 1075] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -0.972, -0.173) [env.py: 1079] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 02:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:05 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.306s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:23:07 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:23:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148738m [env.py: 870] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=392.3ms, total=392.3ms [env.py: 1105] +05/12 02:23:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:23:09 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:23:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161576m [env.py: 870] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.8ms, total=184.8ms [env.py: 1105] +05/12 02:23:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:23:10 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:23:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:23:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:23:10 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 02:23:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:23:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:23:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.18s (batch: 3.39s, save: 10.79s) [pipeline.py: 300] +05/12 02:23:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147164m [env.py: 870] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44107293 -1.05381754 -0.14716443] yaw=-45.8deg [env.py: 1019] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.6ms [env.py: 1075] +05/12 02:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -1.054, -0.147) [env.py: 1079] +05/12 02:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/12 02:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 02:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:12 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:12 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.18s: + episode_total: mean=27.60s, total=165.58s, count=6, min=195.3ms, max=158543.7ms + sensor_polling: mean=318.0ms, total=94.14s, count=296, min=294.7ms, max=497.3ms + save_trajectories: mean=10.79s, total=10.79s, count=1, min=10786.8ms, max=10786.8ms + physics_step: mean=21.5ms, total=6.37s, count=296, min=14.7ms, max=32.6ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3393.5ms, max=3393.5ms + task_specific_sample: mean=360.7ms, total=2.16s, count=6, min=192.1ms, max=480.2ms + task_sampling: mean=394.0ms, total=1.18s, count=3, min=363.6ms, max=421.3ms + task_sampling_failed: mean=333.1ms, total=999.2ms, count=3, min=195.3ms, max=483.6ms + scene_randomize: mean=1.2ms, total=7.3ms, count=6, min=0.9ms, max=1.7ms + mj_forward_sync: mean=485.0us, total=2.9ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:23:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.443s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.683[m] 82.204[deg] [grasp_sample.py: 539] +05/12 02:23:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180856m [env.py: 870] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26461749 -1.11688122 -0.18085574] yaw=-49.4deg [env.py: 1019] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45686577 -0.8439319 -0.18085574] yaw=-59.6deg [env.py: 1019] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.3ms, total=248.4ms [env.py: 1075] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.117, -0.181) [env.py: 1079] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/12 02:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:14 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:14 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:23:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.691[m] 92.325[deg] [grasp_sample.py: 539] +05/12 02:23:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:23:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170194m [env.py: 870] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.0ms, total=204.1ms [env.py: 1105] +05/12 02:23:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:23:16 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:23:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:23:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:23:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:23:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160843m [env.py: 870] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4406052 -1.06687499 -0.16084266] yaw=-41.6deg [env.py: 1019] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.1ms, total=198.2ms [env.py: 1075] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -1.067, -0.161) [env.py: 1079] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg [env.py: 1082] +05/12 02:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:18 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.623[m] 89.535[deg] [grasp_sample.py: 539] +05/12 02:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:23:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:23:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:23:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:23:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:23:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.37s (batch: 3.72s, save: 10.65s) [pipeline.py: 300] +05/12 02:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:25 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.67s: + episode_total: mean=90.81s, total=272.42s, count=3, min=3337.6ms, max=149659.7ms + sensor_polling: mean=381.2ms, total=164.31s, count=431, min=323.0ms, max=581.6ms + save_trajectories: mean=10.65s, total=10.65s, count=1, min=10651.9ms, max=10651.9ms + physics_step: mean=23.1ms, total=9.96s, count=431, min=15.3ms, max=36.4ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3720.8ms, max=3720.8ms + task_sampling: mean=558.0ms, total=1.67s, count=3, min=428.5ms, max=707.2ms + task_specific_sample: mean=554.8ms, total=1.66s, count=3, min=425.3ms, max=703.7ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=0.9ms, max=2.0ms + mj_forward_sync: mean=374.1us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160993m [env.py: 870] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60186634 -0.82403877 -0.16099325] yaw=-59.1deg [env.py: 1019] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=343.2ms, total=343.2ms [env.py: 1075] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.602, -0.824, -0.161) [env.py: 1079] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/12 02:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:27 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.554s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:29 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.737[m] 84.818[deg] [grasp_sample.py: 539] +05/12 02:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173891m [env.py: 870] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=173.3ms, total=173.3ms [env.py: 1105] +05/12 02:23:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:23:32 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:23:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:23:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175450m [env.py: 870] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15407236 -1.04620606 -0.17545048] yaw=-43.2deg [env.py: 1019] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.9ms, total=231.9ms [env.py: 1075] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -1.046, -0.175) [env.py: 1079] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.2 deg [env.py: 1082] +05/12 02:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:33 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.529s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:23:35 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:23:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137478m [env.py: 870] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.7ms, total=194.8ms [env.py: 1105] +05/12 02:23:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:23:36 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:23:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.835s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:37 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.513[m] 61.236[deg] [grasp_sample.py: 539] +05/12 02:23:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:23:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:23:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:23:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195249m [env.py: 870] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50707437 -0.93170546 -0.19524906] yaw=-68.0deg [env.py: 1019] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1075] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.932, -0.195) [env.py: 1079] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 02:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:38 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.532s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.670[m] 101.595[deg] [grasp_sample.py: 539] +05/12 02:23:42 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:23:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:23:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:23:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:23:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:23:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:23:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150090m [env.py: 870] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:23:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44563903 -0.97208374 -0.15008987] yaw=-60.4deg [env.py: 1019] +05/12 02:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:23:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.1ms, total=219.1ms [env.py: 1075] +05/12 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -0.972, -0.150) [env.py: 1079] +05/12 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:23:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:23:44 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 02:23:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:23:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:23:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:23:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:23:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:23:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:23:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.522s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:51 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.689[m] 83.819[deg] [grasp_sample.py: 539] +05/12 02:23:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:23:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:23:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:23:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.489s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:23:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.455[m] 61.249[deg] [grasp_sample.py: 539] +05/12 02:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:23:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:23:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:23:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:23:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:24:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:24:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:24:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:24:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:24:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:24:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.455[m] 61.249[deg] [grasp_sample.py: 539] +05/12 02:24:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:24:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:24:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:24:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:24:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 02:24:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:24:17 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 02:24:17 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.39s: + episode_total: mean=76.05s, total=76.05s, count=1, min=76047.2ms, max=76047.2ms + sensor_polling: mean=351.1ms, total=26.33s, count=75, min=302.7ms, max=527.5ms + physics_step: mean=19.7ms, total=1.48s, count=75, min=13.0ms, max=59.5ms + task_sampling: mean=385.8ms, total=385.8ms, count=1, min=385.8ms, max=385.8ms + task_specific_sample: mean=382.4ms, total=382.4ms, count=1, min=382.4ms, max=382.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=358.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:24:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:24:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:24:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:24:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:24:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:24:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:24:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176100m [env.py: 870] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:24:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59015001 -0.79320281 -0.17609966] yaw=-76.7deg [env.py: 1019] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:24:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.7ms [env.py: 1075] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.793, -0.176) [env.py: 1079] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.7 deg [env.py: 1082] +05/12 02:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:24:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:24:19 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 02:24:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 02:24:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:24:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:24:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:24:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:24:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.683s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:24:25 INFO: [Worker 0] Feasible grasp found 927 (originally 263): w/ 0.775[m] 102.025[deg] [grasp_sample.py: 539] +05/12 02:24:26 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:24:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:24:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:24:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:24:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:24:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:24:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:24:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138757m [env.py: 870] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:24:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51570084 -0.94143073 -0.13875711] yaw=-53.1deg [env.py: 1019] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:24:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.8ms [env.py: 1075] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -0.941, -0.139) [env.py: 1079] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 02:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:24:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:24:28 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 02:24:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:24:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:24:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:24:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:24:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.756s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:24:33 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.683[m] 81.843[deg] [grasp_sample.py: 539] +05/12 02:24:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:24:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:24:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:24:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:24:57 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:25:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:25:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:25:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:25:18 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:25:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:25:18 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 02:25:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:25:21 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:25:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:25:21 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 02:25:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:25:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:25:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:25:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.07s (batch: 3.53s, save: 8.55s) [pipeline.py: 300] +05/12 02:25:30 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.22s: + episode_total: mean=23.13s, total=138.80s, count=6, min=193.7ms, max=132984.0ms + sensor_polling: mean=330.2ms, total=86.52s, count=262, min=295.1ms, max=575.1ms + save_trajectories: mean=8.55s, total=8.55s, count=1, min=8546.0ms, max=8546.0ms + physics_step: mean=21.8ms, total=5.71s, count=262, min=14.7ms, max=43.0ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3525.9ms, max=3525.9ms + task_specific_sample: mean=335.5ms, total=2.01s, count=6, min=190.4ms, max=425.9ms + task_sampling: mean=408.2ms, total=1.22s, count=3, min=397.9ms, max=428.1ms + task_sampling_failed: mean=269.9ms, total=809.8ms, count=3, min=193.7ms, max=404.3ms + scene_randomize: mean=1.3ms, total=7.9ms, count=6, min=1.0ms, max=2.4ms + mj_forward_sync: mean=444.0us, total=2.7ms, count=6, min=0.4ms, max=0.5ms + policy_setup: mean=15.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:25:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:25:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:25:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:25:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:25:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:25:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:25:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:25:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:25:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:25:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:25:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:25:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163611m [env.py: 870] +05/12 02:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:25:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4274314 -1.08558485 -0.16361077] yaw=-54.4deg [env.py: 1019] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:25:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.9ms, total=268.9ms [env.py: 1075] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.086, -0.164) [env.py: 1079] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 02:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 02:25:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:25:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:25:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:25:32 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 02:25:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 02:25:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:25:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:25:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:25:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:25:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:25:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.28s (batch: 3.28s, save: 9.00s) [pipeline.py: 300] +05/12 02:25:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:25:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.663[m] 92.330[deg] [grasp_sample.py: 539] +05/12 02:25:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:25:34 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s: + episode_total: mean=140.66s, total=140.66s, count=1, min=140655.2ms, max=140655.2ms + sensor_polling: mean=355.3ms, total=97.00s, count=273, min=303.7ms, max=552.6ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=9000.8ms, max=9000.8ms + physics_step: mean=23.1ms, total=6.30s, count=273, min=19.7ms, max=55.8ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3280.0ms, max=3280.0ms + task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms + task_specific_sample: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=367.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:25:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:25:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:25:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:25:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:25:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:25:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:25:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:25:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:25:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:25:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155995m [env.py: 870] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:25:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52683923 -0.83002393 -0.15599476] yaw=-74.6deg [env.py: 1019] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44942427 -0.78452816 -0.15599476] yaw=-72.1deg [env.py: 1019] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:25:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.6ms, total=194.6ms [env.py: 1075] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.830, -0.156) [env.py: 1079] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg [env.py: 1082] +05/12 02:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:25:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:25:36 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 02:25:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 02:25:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:25:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:25:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:25:51 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:26:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:26:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:26:11 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 02:26:12 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:26:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 42.493s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:26:19 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.768[m] 103.503[deg] [grasp_sample.py: 539] +05/12 02:26:20 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:26:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:26:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:26:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:26:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:26:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:26:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164000m [env.py: 870] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:26:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08296452 -1.06633717 -0.16400034] yaw=-47.1deg [env.py: 1019] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:26:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=465.5ms, total=465.6ms [env.py: 1075] +05/12 02:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.083, -1.066, -0.164) [env.py: 1079] +05/12 02:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/12 02:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/12 02:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:26:22 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 02:26:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 02:26:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:26:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:26:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:26:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:26:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:26:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.62s (batch: 3.43s, save: 9.19s) [pipeline.py: 300] +05/12 02:26:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.999s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:26:24 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:26:24 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=1.91s: + episode_total: mean=28.52s, total=171.10s, count=6, min=181.1ms, max=160926.2ms + sensor_polling: mean=381.7ms, total=104.19s, count=273, min=316.5ms, max=644.6ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9187.9ms, max=9187.9ms + physics_step: mean=23.0ms, total=6.27s, count=273, min=19.8ms, max=35.4ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3428.4ms, max=3428.4ms + task_specific_sample: mean=379.9ms, total=2.28s, count=6, min=178.1ms, max=611.9ms + task_sampling: mean=478.2ms, total=1.91s, count=4, min=415.9ms, max=616.6ms + task_sampling_failed: mean=191.7ms, total=383.4ms, count=2, min=181.1ms, max=202.4ms + scene_randomize: mean=1.3ms, total=7.9ms, count=6, min=0.9ms, max=3.1ms + mj_forward_sync: mean=453.9us, total=2.7ms, count=6, min=0.4ms, max=0.8ms + policy_setup: mean=13.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:26:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:26:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120991m [env.py: 870] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29542947 -0.86257757 -0.12099141] yaw=-55.3deg [env.py: 1019] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29116582 -0.9488896 -0.12099141] yaw=-41.6deg [env.py: 1019] +05/12 02:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:26:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:26:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:26:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:26:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:26:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:26:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198872m [env.py: 870] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:26:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.4ms, total=226.4ms [env.py: 1075] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -0.863, -0.121) [env.py: 1079] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17778507 -1.12593433 -0.19887236] yaw=-27.0deg [env.py: 1019] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.9ms, total=203.9ms [env.py: 1075] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.126, -0.199) [env.py: 1079] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.0 deg [env.py: 1082] +05/12 02:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:26:26 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 02:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:26:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:26:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:26:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:26:26 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 02:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 02:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:26:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:26:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:26:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.393s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:26:27 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:26:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:26:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134474m [env.py: 870] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5712336 -0.96097888 -0.13447419] yaw=-64.7deg [env.py: 1019] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4630703 -1.07969062 -0.13447419] yaw=-64.6deg [env.py: 1019] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms [env.py: 1075] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.961, -0.134) [env.py: 1079] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 02:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:26:29 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 02:26:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 02:26:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:26:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:26:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:26:31 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:26:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:26:31 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 02:26:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.751s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:26:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.669[m] 83.174[deg] [grasp_sample.py: 539] +05/12 02:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:26:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:26:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:26:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:26:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.712s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:26:36 INFO: [Worker 0] Feasible grasp found 432 (originally 432): w/ 0.741[m] 94.169[deg] [grasp_sample.py: 539] +05/12 02:26:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:26:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:26:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:26:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:26:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:26:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:26:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:26:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.93s (batch: 3.27s, save: 8.66s) [pipeline.py: 300] +05/12 02:26:43 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.94s: + episode_total: mean=71.74s, total=143.48s, count=2, min=7354.1ms, max=136127.7ms + sensor_polling: mean=335.8ms, total=90.67s, count=270, min=304.2ms, max=621.2ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8661.2ms, max=8661.2ms + physics_step: mean=22.0ms, total=5.95s, count=270, min=16.4ms, max=34.0ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3268.3ms, max=3268.3ms + task_sampling: mean=468.7ms, total=937.4ms, count=2, min=460.6ms, max=476.8ms + task_specific_sample: mean=465.7ms, total=931.3ms, count=2, min=457.5ms, max=473.8ms + scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.2ms, max=1.2ms + mj_forward_sync: mean=413.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:26:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:26:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:26:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:26:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:26:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:26:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178620m [env.py: 870] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:26:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23967385 -0.90262295 -0.17862016] yaw=-52.8deg [env.py: 1019] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:26:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=186.2ms, total=186.3ms [env.py: 1075] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -0.903, -0.179) [env.py: 1079] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/12 02:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:26:45 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 02:26:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 02:26:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:26:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:26:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:26:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:26:46 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:26:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:26:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:26:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:26:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:26:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:26:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:26:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169475m [env.py: 870] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:26:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=300.7ms, total=300.8ms [env.py: 1105] +05/12 02:26:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:26:48 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:26:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:26:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:26:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:26:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:26:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:26:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128215m [env.py: 870] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:26:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28342569 -1.22212262 -0.12821458] yaw=-35.4deg [env.py: 1019] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26109271 -1.15823204 -0.12821458] yaw=-45.1deg [env.py: 1019] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26430125 -1.02942958 -0.12821458] yaw=-46.7deg [env.py: 1019] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:26:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.6ms, total=254.6ms [env.py: 1075] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -1.222, -0.128) [env.py: 1079] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/12 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:26:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:26:50 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 02:26:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:26:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:26:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:26:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:26:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.571s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:26:52 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.694[m] 82.234[deg] [grasp_sample.py: 539] +05/12 02:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:26:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:26:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:26:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:27:19 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:27:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:27:39 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:27:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:27:39 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 02:27:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:27:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:27:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:27:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:27:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:27:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:27:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:27:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 387 non-colliding grasps [grasp_sample.py: 465] +05/12 02:27:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:27:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.448s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:27:46 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.125[m] 4.700[deg] [grasp_sample.py: 539] +05/12 02:27:47 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:27:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:27:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:27:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:27:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:27:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:27:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148797m [env.py: 870] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:27:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4525603 -0.95847514 -0.14879675] yaw=-51.8deg [env.py: 1019] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60789868 -0.86204752 -0.14879675] yaw=-64.3deg [env.py: 1019] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:27:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.6ms [env.py: 1075] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.958, -0.149) [env.py: 1079] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.8 deg [env.py: 1082] +05/12 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:27:49 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 02:27:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:27:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:27:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:27:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:27:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:27:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.405s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:27:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.728[m] 88.557[deg] [grasp_sample.py: 539] +05/12 02:27:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:27:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:27:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.47s (batch: 3.65s, save: 8.83s) [pipeline.py: 300] +05/12 02:27:52 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:27:52 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s: + episode_total: mean=140.74s, total=140.74s, count=1, min=140741.1ms, max=140741.1ms + sensor_polling: mean=342.2ms, total=91.70s, count=268, min=301.8ms, max=587.0ms + save_trajectories: mean=8.83s, total=8.83s, count=1, min=8826.2ms, max=8826.2ms + physics_step: mean=22.2ms, total=5.95s, count=268, min=14.8ms, max=64.2ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3646.4ms, max=3646.4ms + task_sampling: mean=486.9ms, total=486.9ms, count=1, min=486.9ms, max=486.9ms + task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=435.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:27:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:27:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:27:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:27:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:27:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:27:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:27:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167001m [env.py: 870] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:27:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=167.6ms, total=167.6ms [env.py: 1105] +05/12 02:27:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:27:53 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:27:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:27:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:27:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:27:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:27:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:27:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132310m [env.py: 870] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:27:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:27:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5100594 -0.99082809 -0.13231001] yaw=-55.3deg [env.py: 1019] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45532984 -1.01994409 -0.13231001] yaw=-54.0deg [env.py: 1019] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:27:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.9ms [env.py: 1075] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.510, -0.991, -0.132) [env.py: 1079] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:27:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:27:54 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 02:27:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 02:27:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:27:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:27:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:27:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:27:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:27:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:27:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:27:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:27:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119025m [env.py: 870] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:27:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.8ms, total=186.8ms [env.py: 1105] +05/12 02:27:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:27:54 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:27:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:27:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:27:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:27:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:27:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:27:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178345m [env.py: 870] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:27:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38773644 -1.00512284 -0.17834494] yaw=-50.8deg [env.py: 1019] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:27:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.2ms, total=214.3ms [env.py: 1075] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.005, -0.178) [env.py: 1079] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:27:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:27:56 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 02:27:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:27:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:27:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:27:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:27:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.144s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:27:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.711[m] 84.584[deg] [grasp_sample.py: 539] +05/12 02:27:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:27:58 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.672[m] 86.684[deg] [grasp_sample.py: 539] +05/12 02:27:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:27:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:27:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:27:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:27:59 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:27:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:28:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:28:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:28:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:28:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:28:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:28:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129531m [env.py: 870] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:28:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5427826 -0.75399171 -0.12953124] yaw=-61.0deg [env.py: 1019] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:28:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.0ms, total=208.0ms [env.py: 1075] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -0.754, -0.130) [env.py: 1079] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/12 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:28:00 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 02:28:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:28:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:28:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:28:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:28:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.285s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:28:02 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:28:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:28:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:28:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:28:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:28:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:28:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158801m [env.py: 870] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:28:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52885585 -0.98632969 -0.15880097] yaw=-58.9deg [env.py: 1019] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44947361 -0.97847734 -0.15880097] yaw=-67.3deg [env.py: 1019] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:28:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms [env.py: 1075] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.986, -0.159) [env.py: 1079] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/12 02:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:28:03 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 02:28:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:28:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:28:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:28:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:28:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.683s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:28:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.661[m] 87.503[deg] [grasp_sample.py: 539] +05/12 02:28:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:28:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:28:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:28:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:35 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:28:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:28:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:28:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:28:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:28:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:28:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.543s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:28:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.485[m] 60.840[deg] [grasp_sample.py: 539] +05/12 02:28:41 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:28:41 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 02:28:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:28:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:28:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:28:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:28:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:28:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117444m [env.py: 870] +05/12 02:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:28:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5096996 -0.88385176 -0.11744441] yaw=-66.0deg [env.py: 1019] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42884733 -0.91365162 -0.11744441] yaw=-59.6deg [env.py: 1019] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.7ms, total=328.8ms [env.py: 1075] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.510, -0.884, -0.117) [env.py: 1079] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/12 02:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 02:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:28:43 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 02:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 02:28:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:28:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:28:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:28:45 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:28:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.560s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:28:45 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.761[m] 96.399[deg] [grasp_sample.py: 539] +05/12 02:28:46 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:28:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:28:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:28:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:28:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:28:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:28:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118088m [env.py: 870] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:28:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.8ms, total=197.8ms [env.py: 1105] +05/12 02:28:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:28:48 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:28:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:28:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:28:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:28:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:28:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:28:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:28:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151380m [env.py: 870] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:28:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=221.6ms, total=221.6ms [env.py: 1105] +05/12 02:28:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:28:49 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:28:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:28:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:28:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:28:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150510m [env.py: 870] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61991883 -0.92249148 -0.15050982] yaw=-64.9deg [env.py: 1019] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:28:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.6ms [env.py: 1075] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.620, -0.922, -0.151) [env.py: 1079] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/12 02:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 02:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:28:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:28:51 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 02:28:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 02:28:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:28:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:28:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:28:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.516s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:28:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.630[m] 86.045[deg] [grasp_sample.py: 539] +05/12 02:28:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:28:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:28:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:28:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:28:55 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:28:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:28:55 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 02:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:29:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:29:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.91s (batch: 3.11s, save: 8.80s) [pipeline.py: 300] +05/12 02:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:08 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.89s: + episode_total: mean=47.02s, total=141.07s, count=3, min=310.3ms, max=138838.6ms + sensor_polling: mean=342.9ms, total=94.28s, count=275, min=297.7ms, max=577.4ms + save_trajectories: mean=8.80s, total=8.80s, count=1, min=8798.7ms, max=8798.7ms + physics_step: mean=22.6ms, total=6.21s, count=275, min=14.7ms, max=33.3ms + save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3114.1ms, max=3114.1ms + task_specific_sample: mean=398.6ms, total=1.20s, count=3, min=305.9ms, max=486.6ms + task_sampling: mean=447.5ms, total=894.9ms, count=2, min=406.2ms, max=488.7ms + task_sampling_failed: mean=310.3ms, total=310.3ms, count=1, min=310.3ms, max=310.3ms + scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=1.0ms, max=1.9ms + mj_forward_sync: mean=404.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:29:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:29:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:29:08 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 02:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:29:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:29:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:29:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:29:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:29:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:29:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:29:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:29:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:29:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:29:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187843m [env.py: 870] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:29:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:29:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 396 non-colliding grasps [grasp_sample.py: 465] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.6ms, total=215.6ms [env.py: 1105] +05/12 02:29:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:29:10 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:29:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:29:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:29:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:29:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:29:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107430m [env.py: 870] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:29:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47869587 -1.03512025 -0.10742991] yaw=-51.3deg [env.py: 1019] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.68815644 -0.97299228 -0.10742991] yaw=-66.4deg [env.py: 1019] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:29:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms [env.py: 1075] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -1.035, -0.107) [env.py: 1079] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 02:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:29:11 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 02:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 02:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:29:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:29:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:29:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.752s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:29:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.710[m] 76.398[deg] [grasp_sample.py: 539] +05/12 02:29:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.765s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:29:14 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.044[m] 0.693[deg] [grasp_sample.py: 539] +05/12 02:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:29:14 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:29:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:29:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:29:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:29:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:29:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:29:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175616m [env.py: 870] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.9ms, total=189.0ms [env.py: 1105] +05/12 02:29:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:29:16 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:29:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:29:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:29:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:29:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:29:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:29:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166008m [env.py: 870] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:29:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.6ms, total=196.7ms [env.py: 1105] +05/12 02:29:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:29:17 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:29:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:29:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:29:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:29:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:29:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:29:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165531m [env.py: 870] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:29:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46450511 -1.08336008 -0.16553071] yaw=-59.4deg [env.py: 1019] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:29:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.7ms [env.py: 1075] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -1.083, -0.166) [env.py: 1079] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 02:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:29:19 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 02:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:29:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:29:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:29:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:29:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:29:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.863s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:29:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.612[m] 85.031[deg] [grasp_sample.py: 539] +05/12 02:29:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:29:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:29:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:29:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:29:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.73s (batch: 3.83s, save: 10.90s) [pipeline.py: 300] +05/12 02:29:24 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.45s: + episode_total: mean=178.40s, total=178.40s, count=1, min=178403.2ms, max=178403.2ms + sensor_polling: mean=414.8ms, total=119.47s, count=288, min=336.2ms, max=777.7ms + save_trajectories: mean=10.90s, total=10.90s, count=1, min=10898.2ms, max=10898.2ms + physics_step: mean=24.1ms, total=6.93s, count=288, min=14.8ms, max=104.6ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3830.6ms, max=3830.6ms + task_sampling: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms + task_specific_sample: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=618.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:29:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:29:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:29:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:29:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:29:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:29:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:29:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:29:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167817m [env.py: 870] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:29:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21093323 -0.97728575 -0.16781708] yaw=-48.2deg [env.py: 1019] +05/12 02:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:29:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=185.7ms, total=185.7ms [env.py: 1075] +05/12 02:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -0.977, -0.168) [env.py: 1079] +05/12 02:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/12 02:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 02:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:29:26 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 02:29:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 02:29:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:29:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:29:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:29:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:29:27 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:29:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:29:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:29:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:29:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143085m [env.py: 870] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32126113 -1.14259916 -0.14308452] yaw=-46.6deg [env.py: 1019] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57569739 -0.91150377 -0.14308452] yaw=-57.6deg [env.py: 1019] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=634.7ms, total=634.8ms [env.py: 1075] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -1.143, -0.143) [env.py: 1079] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 02:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:29:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:29:29 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 02:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:29:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:29:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:29:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:29:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.479s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:29:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 78.452[deg] [grasp_sample.py: 539] +05/12 02:29:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:29:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:29:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:29:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:29:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:29:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:29:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:29:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 376 non-colliding grasps [grasp_sample.py: 465] +05/12 02:29:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.603s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:29:37 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.040[m] 0.598[deg] [grasp_sample.py: 539] +05/12 02:29:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:29:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:29:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:29:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:29:57 INFO: [Worker 0] Object is not in grasp! 0.00185 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:29:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:29:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:29:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:30:00 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.053[m] 2.689[deg] [grasp_sample.py: 539] +05/12 02:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:01 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117954m [env.py: 870] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.4ms, total=206.4ms [env.py: 1105] +05/12 02:30:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:03 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115618m [env.py: 870] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.3ms, total=206.4ms [env.py: 1105] +05/12 02:30:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:04 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111768m [env.py: 870] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.0ms, total=198.0ms [env.py: 1105] +05/12 02:30:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:06 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162068m [env.py: 870] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15167097 -1.04440784 -0.16206839] yaw=-29.8deg [env.py: 1019] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1075] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.152, -1.044, -0.162) [env.py: 1079] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.8 deg [env.py: 1082] +05/12 02:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:30:07 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 02:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:30:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:30:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:30:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:30:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.329s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:30:09 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:30:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190306m [env.py: 870] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1105] +05/12 02:30:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:10 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147485m [env.py: 870] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.0ms, total=200.0ms [env.py: 1105] +05/12 02:30:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:12 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182879m [env.py: 870] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29461038 -1.19172657 -0.18287931] yaw=-29.2deg [env.py: 1019] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:30:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=357.5ms, total=357.5ms [env.py: 1075] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.192, -0.183) [env.py: 1079] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.2 deg [env.py: 1082] +05/12 02:30:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:30:14 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 02:30:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:30:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:30:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:30:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.485s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:30:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.650[m] 71.908[deg] [grasp_sample.py: 539] +05/12 02:30:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:30:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:30:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:30:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:30:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:30:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:30:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:30:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:30:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.727s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:30:19 INFO: [Worker 0] Feasible grasp found 372 (originally 372): w/ 0.124[m] 5.396[deg] [grasp_sample.py: 539] +05/12 02:30:20 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:30:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127415m [env.py: 870] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=272.4ms, total=272.4ms [env.py: 1105] +05/12 02:30:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:22 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199911m [env.py: 870] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:30:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26877218 -1.18209054 -0.19991054] yaw=-49.3deg [env.py: 1019] +05/12 02:30:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:30:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.9ms, total=201.9ms [env.py: 1075] +05/12 02:30:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -1.182, -0.200) [env.py: 1079] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/12 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.186s, found 392 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:30:23 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 02:30:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 02:30:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:30:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:30:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.361s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:30:24 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.043[m] 6.781[deg] [grasp_sample.py: 539] +05/12 02:30:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:30:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:30:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.571s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:30:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 84.806[deg] [grasp_sample.py: 539] +05/12 02:30:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:26 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:30:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163843m [env.py: 870] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=268.1ms, total=268.1ms [env.py: 1105] +05/12 02:30:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:28 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192308m [env.py: 870] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.9ms, total=207.9ms [env.py: 1105] +05/12 02:30:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:30:29 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:30:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:30:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:30:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:30:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:30:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:30:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:30:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162330m [env.py: 870] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:30:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55787549 -0.9109664 -0.16232986] yaw=-75.7deg [env.py: 1019] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32612013 -1.02094741 -0.16232986] yaw=-57.2deg [env.py: 1019] +05/12 02:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:30:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1075] +05/12 02:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.911, -0.162) [env.py: 1079] +05/12 02:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 02:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 02:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:30:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:30:31 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 02:30:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:30:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:30:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:30:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:30:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.695[m] 91.536[deg] [grasp_sample.py: 539] +05/12 02:30:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:30:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:30:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:30:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:30:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:30:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:30:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:30:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:30:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:30:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:30:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.363s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:30:58 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.547[m] 67.688[deg] [grasp_sample.py: 539] +05/12 02:30:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:30:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:30:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:31:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:31:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:31:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:31:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:31:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:31:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.533s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:31:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.520[m] 64.458[deg] [grasp_sample.py: 539] +05/12 02:31:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:31:11 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:31:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:31:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:31:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:31:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 253 non-colliding grasps [grasp_sample.py: 465] +05/12 02:31:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:31:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:11 INFO: [Worker 0] Feasibility-checked 253 grasps in 0.334s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:31:11 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.054[m] 1.360[deg] [grasp_sample.py: 539] +05/12 02:31:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:31:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:31:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:31:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:31:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:31:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:31:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:31:22 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:31:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.547s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:31:23 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.520[m] 64.459[deg] [grasp_sample.py: 539] +05/12 02:31:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:31:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:31:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:33 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:31:35 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 02:31:35 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 02:31:35 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=5.57s: + episode_total: mean=17.70s, total=336.36s, count=19, min=176.5ms, max=89762.7ms + sensor_polling: mean=345.4ms, total=152.31s, count=441, min=294.0ms, max=870.0ms + physics_step: mean=21.5ms, total=9.48s, count=441, min=12.9ms, max=61.7ms + task_specific_sample: mean=373.5ms, total=7.10s, count=19, min=172.4ms, max=717.8ms + task_sampling: mean=464.3ms, total=5.57s, count=12, min=345.5ms, max=720.2ms + task_sampling_failed: mean=225.6ms, total=1.58s, count=7, min=176.5ms, max=280.1ms + scene_randomize: mean=1.2ms, total=22.4ms, count=19, min=0.9ms, max=2.5ms + mj_forward_sync: mean=394.8us, total=7.5ms, count=19, min=0.4ms, max=0.4ms + policy_setup: mean=14.7us, total=0.2ms, count=12, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:31:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:31:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:31:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:31:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:31:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102225m [env.py: 870] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=285.5ms, total=285.5ms [env.py: 1105] +05/12 02:31:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:31:37 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:31:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:31:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:31:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:31:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:31:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:31:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:31:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147411m [env.py: 870] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:31:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49731914 -1.06945793 -0.14741062] yaw=-65.5deg [env.py: 1019] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:31:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=272.3ms, total=272.3ms [env.py: 1075] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -1.069, -0.147) [env.py: 1079] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg [env.py: 1082] +05/12 02:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:31:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:31:39 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 02:31:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:31:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:31:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:31:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:31:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.460s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:31:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.621[m] 83.215[deg] [grasp_sample.py: 539] +05/12 02:31:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:31:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:31:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:31:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:31:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:31:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 02:31:54 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:31:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:31:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.30s (batch: 3.61s, save: 9.69s) [pipeline.py: 300] +05/12 02:31:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:31:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:31:58 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 02:31:58 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.84s: + episode_total: mean=32.77s, total=163.87s, count=5, min=196.4ms, max=159850.7ms + sensor_polling: mean=352.9ms, total=105.87s, count=300, min=298.2ms, max=579.4ms + save_trajectories: mean=9.69s, total=9.69s, count=1, min=9689.9ms, max=9689.9ms + physics_step: mean=23.0ms, total=6.91s, count=300, min=15.0ms, max=31.3ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3612.3ms, max=3612.3ms + task_specific_sample: mean=291.2ms, total=1.46s, count=5, min=193.5ms, max=425.6ms + task_sampling: mean=422.2ms, total=844.3ms, count=2, min=416.3ms, max=428.0ms + task_sampling_failed: mean=209.1ms, total=627.3ms, count=3, min=196.4ms, max=226.7ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=0.9ms, max=2.7ms + mj_forward_sync: mean=375.5us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:31:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:31:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:31:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:31:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:31:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:31:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:31:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194642m [env.py: 870] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:31:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:31:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=170.0ms, total=170.1ms [env.py: 1105] +05/12 02:31:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:31:59 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123451m [env.py: 870] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1105] +05/12 02:32:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:32:01 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:32:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138725m [env.py: 870] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:32:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.8ms, total=191.8ms [env.py: 1105] +05/12 02:32:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:32:02 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172160m [env.py: 870] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42955068 -1.01551897 -0.17216005] yaw=-52.0deg [env.py: 1019] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:32:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=215.9ms, total=216.0ms [env.py: 1075] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -1.016, -0.172) [env.py: 1079] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/12 02:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:32:04 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 02:32:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 02:32:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:32:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.736s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:32:06 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.717[m] 82.101[deg] [grasp_sample.py: 539] +05/12 02:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:32:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:32:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:32:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:07 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:32:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139281m [env.py: 870] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39675249 -1.02028068 -0.13928121] yaw=-45.3deg [env.py: 1019] +05/12 02:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:32:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.3ms [env.py: 1075] +05/12 02:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -1.020, -0.139) [env.py: 1079] +05/12 02:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 02:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 02:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.918s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:32:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.445[m] 55.307[deg] [grasp_sample.py: 539] +05/12 02:32:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:32:09 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 02:32:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:32:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:10 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:32:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:32:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:32:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.09s (batch: 3.48s, save: 9.61s) [pipeline.py: 300] +05/12 02:32:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180418m [env.py: 870] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16354181 -1.00593183 -0.18041803] yaw=-41.0deg [env.py: 1019] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:32:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=214.6ms, total=214.7ms [env.py: 1075] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.164, -1.006, -0.180) [env.py: 1079] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg [env.py: 1082] +05/12 02:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:32:12 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 02:32:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 02:32:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:12 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=1.27s: + episode_total: mean=82.53s, total=165.07s, count=2, min=1926.2ms, max=163141.8ms + sensor_polling: mean=406.2ms, total=111.71s, count=275, min=313.7ms, max=818.0ms + save_trajectories: mean=9.61s, total=9.61s, count=1, min=9607.8ms, max=9607.8ms + physics_step: mean=24.2ms, total=6.66s, count=275, min=15.2ms, max=43.6ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3483.5ms, max=3483.5ms + task_sampling: mean=632.7ms, total=1.27s, count=2, min=426.5ms, max=838.9ms + task_specific_sample: mean=629.2ms, total=1.26s, count=2, min=422.0ms, max=836.4ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=0.9ms, max=3.1ms + mj_forward_sync: mean=478.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=19.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:32:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.048s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:32:13 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.678[m] 87.204[deg] [grasp_sample.py: 539] +05/12 02:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171919m [env.py: 870] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=351.4ms, total=351.5ms [env.py: 1105] +05/12 02:32:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:32:13 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:32:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.647s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:32:13 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:32:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:32:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:32:14 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:32:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:32:14 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 02:32:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164738m [env.py: 870] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174735m [env.py: 870] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34845279 -1.2022497 -0.17473491] yaw=-42.4deg [env.py: 1019] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:32:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.7ms, total=211.7ms [env.py: 1105] +05/12 02:32:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:32:15 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50087816 -0.96460318 -0.17473491] yaw=-64.3deg [env.py: 1019] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48044479 -1.04023329 -0.17473491] yaw=-51.1deg [env.py: 1019] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:32:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.1ms, total=223.1ms [env.py: 1075] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -1.202, -0.175) [env.py: 1079] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 02:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:32:15 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 02:32:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:32:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178670m [env.py: 870] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52776584 -1.00973572 -0.17867013] yaw=-65.2deg [env.py: 1019] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.538916 -0.92547665 -0.17867013] yaw=-53.6deg [env.py: 1019] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:32:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.7ms, total=195.7ms [env.py: 1075] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -1.010, -0.179) [env.py: 1079] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/12 02:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:32:17 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 02:32:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 02:32:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.957s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:32:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.651[m] 91.990[deg] [grasp_sample.py: 539] +05/12 02:32:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:32:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:32:18 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.641[m] 84.558[deg] [grasp_sample.py: 539] +05/12 02:32:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:32:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:32:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:32:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:32:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:32:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:32:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:32:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:32:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:32:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.29s (batch: 3.78s, save: 8.52s) [pipeline.py: 300] +05/12 02:32:27 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=1.45s: + episode_total: mean=33.01s, total=264.09s, count=8, min=205.9ms, max=133565.6ms + sensor_polling: mean=345.9ms, total=179.52s, count=519, min=293.3ms, max=611.9ms + physics_step: mean=22.4ms, total=11.64s, count=519, min=14.7ms, max=68.1ms + save_trajectories: mean=8.52s, total=8.52s, count=1, min=8515.1ms, max=8515.1ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3777.9ms, max=3777.9ms + task_specific_sample: mean=309.8ms, total=2.48s, count=8, min=203.0ms, max=558.5ms + task_sampling: mean=484.0ms, total=1.45s, count=3, min=429.4ms, max=560.6ms + task_sampling_failed: mean=210.4ms, total=1.05s, count=5, min=205.9ms, max=215.4ms + scene_randomize: mean=1.3ms, total=10.4ms, count=8, min=1.0ms, max=2.6ms + mj_forward_sync: mean=416.2us, total=3.3ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:32:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189516m [env.py: 870] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31866719 -1.04100367 -0.18951589] yaw=-47.6deg [env.py: 1019] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:32:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=193.3ms, total=193.4ms [env.py: 1075] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.041, -0.190) [env.py: 1079] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/12 02:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:32:28 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 02:32:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 02:32:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.520s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:32:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.683[m] 81.600[deg] [grasp_sample.py: 539] +05/12 02:32:30 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:32:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:32:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:32:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:32:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:32:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:32:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101179m [env.py: 870] +05/12 02:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:32:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26393471 -1.0830504 -0.10117944] yaw=-47.5deg [env.py: 1019] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:32:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=179.4ms, total=179.5ms [env.py: 1075] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.083, -0.101) [env.py: 1079] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 02:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 02:32:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:32:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:32:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:32:32 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 02:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:32:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:32:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:32:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:32:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:32:38 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.766[m] 99.462[deg] [grasp_sample.py: 539] +05/12 02:32:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:32:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:32:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:32:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:33:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:33:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:33:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:33:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:33:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:33:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:33:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:33:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 333 non-colliding grasps [grasp_sample.py: 465] +05/12 02:33:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.620s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:33:24 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.040[m] 2.463[deg] [grasp_sample.py: 539] +05/12 02:33:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:33:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:33:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:33:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:33:50 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:33:55 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:33:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:34:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:34:09 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:34:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:34:09 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 02:34:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:34:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:34:16 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 02:34:19 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:34:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:34:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:34:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.76s (batch: 3.02s, save: 8.75s) [pipeline.py: 300] +05/12 02:34:22 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.88s: + episode_total: mean=27.44s, total=137.19s, count=5, min=179.3ms, max=133180.8ms + sensor_polling: mean=326.1ms, total=88.39s, count=271, min=302.2ms, max=528.3ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8748.4ms, max=8748.4ms + physics_step: mean=21.4ms, total=5.79s, count=271, min=14.6ms, max=27.7ms + save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3015.5ms, max=3015.5ms + task_specific_sample: mean=290.5ms, total=1.45s, count=5, min=175.5ms, max=452.7ms + task_sampling: mean=440.8ms, total=881.6ms, count=2, min=426.7ms, max=454.9ms + task_sampling_failed: mean=195.3ms, total=585.8ms, count=3, min=179.3ms, max=206.4ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=2.2ms + mj_forward_sync: mean=438.6us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:34:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153254m [env.py: 870] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.0ms, total=201.0ms [env.py: 1105] +05/12 02:34:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:34:23 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:34:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115084m [env.py: 870] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=285.2ms, total=285.2ms [env.py: 1105] +05/12 02:34:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:34:25 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:34:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177809m [env.py: 870] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=400.7ms, total=400.7ms [env.py: 1105] +05/12 02:34:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:34:26 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:34:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191726m [env.py: 870] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26266742 -1.08075912 -0.19172561] yaw=-35.9deg [env.py: 1019] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:34:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.4ms, total=280.5ms [env.py: 1075] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -1.081, -0.192) [env.py: 1079] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.9 deg [env.py: 1082] +05/12 02:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:34:28 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 02:34:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 02:34:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:34:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:34:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:34:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:34:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:34:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.30s (batch: 3.25s, save: 9.05s) [pipeline.py: 300] +05/12 02:34:29 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=1.35s: + episode_total: mean=42.18s, total=168.71s, count=4, min=299.3ms, max=134530.3ms + sensor_polling: mean=336.4ms, total=104.95s, count=312, min=295.9ms, max=555.4ms + save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.1ms, max=9050.1ms + physics_step: mean=22.1ms, total=6.88s, count=312, min=14.5ms, max=32.6ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3252.1ms, max=3252.1ms + task_specific_sample: mean=408.3ms, total=1.63s, count=4, min=290.5ms, max=496.3ms + task_sampling: mean=450.6ms, total=1.35s, count=3, min=419.8ms, max=499.1ms + task_sampling_failed: mean=299.3ms, total=299.3ms, count=1, min=299.3ms, max=299.3ms + scene_randomize: mean=1.2ms, total=4.7ms, count=4, min=1.0ms, max=1.4ms + mj_forward_sync: mean=457.6us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:34:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188557m [env.py: 870] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=180.0ms, total=180.1ms [env.py: 1105] +05/12 02:34:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:34:31 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132815m [env.py: 870] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2062931 -0.94926909 -0.13281469] yaw=-45.6deg [env.py: 1019] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4743385 -0.86925893 -0.13281469] yaw=-68.8deg [env.py: 1019] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38322567 -1.1361059 -0.13281469] yaw=-42.6deg [env.py: 1019] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.5ms, total=162.6ms [env.py: 1075] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -0.949, -0.133) [env.py: 1079] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/12 02:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:34:33 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 02:34:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 02:34:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:34:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:34:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.483s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:34:33 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.698[m] 86.878[deg] [grasp_sample.py: 539] +05/12 02:34:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:34:34 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:34:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.392s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:34:34 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:34:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194697m [env.py: 870] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46464151 -1.0745846 -0.19469663] yaw=-53.4deg [env.py: 1019] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:34:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.3ms [env.py: 1075] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -1.075, -0.195) [env.py: 1079] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 02:34:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:34:36 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 02:34:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133322m [env.py: 870] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:34:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:34:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=251.9ms, total=251.9ms [env.py: 1105] +05/12 02:34:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:34:36 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:34:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170127m [env.py: 870] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25273207 -1.10473177 -0.17012692] yaw=-38.1deg [env.py: 1019] +05/12 02:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31099659 -1.17579871 -0.17012692] yaw=-49.9deg [env.py: 1019] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:34:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.275s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:34:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.572[m] 86.314[deg] [grasp_sample.py: 539] +05/12 02:34:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:34:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=806.0ms, total=806.0ms [env.py: 1075] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -1.105, -0.170) [env.py: 1079] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/12 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:34:38 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 02:34:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 02:34:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:34:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:34:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:34:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:34:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:34:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:34:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:34:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:34:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 02:34:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.062s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:34:41 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.691[m] 76.710[deg] [grasp_sample.py: 539] +05/12 02:34:43 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:34:43 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197651m [env.py: 870] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56992327 -1.02123478 -0.19765128] yaw=-65.3deg [env.py: 1019] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1950917 -1.1626136 -0.19765128] yaw=-32.2deg [env.py: 1019] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.6ms, total=219.7ms [env.py: 1075] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.570, -1.021, -0.198) [env.py: 1079] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/12 02:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:34:44 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 02:34:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 02:34:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:34:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:34:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.164s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:34:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.776s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:34:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.597[m] 91.535[deg] [grasp_sample.py: 539] +05/12 02:34:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:34:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:34:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:34:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:34:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:34:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:34:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.83s (batch: 4.04s, save: 9.79s) [pipeline.py: 300] +05/12 02:34:55 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.43s: + episode_total: mean=53.25s, total=159.74s, count=3, min=220.4ms, max=159158.3ms + sensor_polling: mean=354.5ms, total=106.35s, count=300, min=306.8ms, max=578.8ms + save_trajectories: mean=9.79s, total=9.79s, count=1, min=9790.3ms, max=9790.3ms + physics_step: mean=21.6ms, total=6.48s, count=300, min=14.6ms, max=48.6ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4035.3ms, max=4035.3ms + task_specific_sample: mean=335.3ms, total=1.01s, count=3, min=216.6ms, max=429.2ms + task_sampling_failed: mean=292.6ms, total=585.2ms, count=2, min=220.4ms, max=364.8ms + task_sampling: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.6ms + mj_forward_sync: mean=486.7us, total=1.5ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:34:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:34:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:34:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:34:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136543m [env.py: 870] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38279221 -0.88796368 -0.13654261] yaw=-52.7deg [env.py: 1019] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6698967 -0.96967352 -0.13654261] yaw=-66.6deg [env.py: 1019] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:34:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.4ms [env.py: 1075] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.888, -0.137) [env.py: 1079] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 02:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:34:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:34:57 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 02:34:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 02:34:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:34:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:34:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:35:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:35:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:35:06 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 02:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:35:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:35:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:35:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.367s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.417[m] 58.096[deg] [grasp_sample.py: 539] +05/12 02:35:09 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:35:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:09 INFO: [Worker 0] Feasible grasp found 555 (originally 555): w/ 0.766[m] 94.653[deg] [grasp_sample.py: 539] +05/12 02:35:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108057m [env.py: 870] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26010639 -0.9520767 -0.10805706] yaw=-51.1deg [env.py: 1019] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.6ms [env.py: 1075] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -0.952, -0.108) [env.py: 1079] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 02:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:10 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:35:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:10 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115113m [env.py: 870] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.296s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:35:12 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=171.7ms, total=171.7ms [env.py: 1105] +05/12 02:35:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:12 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164857m [env.py: 870] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198361m [env.py: 870] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.1ms, total=197.2ms [env.py: 1105] +05/12 02:35:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=272.0ms, total=272.0ms [env.py: 1105] +05/12 02:35:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:14 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165863m [env.py: 870] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25785862 -0.88070206 -0.16586287] yaw=-41.1deg [env.py: 1019] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196923m [env.py: 870] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4764217 -0.83121061 -0.16586287] yaw=-56.3deg [env.py: 1019] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1075] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -0.881, -0.166) [env.py: 1079] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68116634 -0.95775783 -0.19692257] yaw=-71.5deg [env.py: 1019] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59131192 -0.97210022 -0.19692257] yaw=-55.4deg [env.py: 1019] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=267.0ms, total=267.1ms [env.py: 1075] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.681, -0.958, -0.197) [env.py: 1079] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg [env.py: 1082] +05/12 02:35:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:15 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:15 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.138s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.574[m] 91.270[deg] [grasp_sample.py: 539] +05/12 02:35:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.651s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:35:17 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:35:17 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 02:35:18 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:35:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106825m [env.py: 870] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3483725 -0.96679954 -0.10682533] yaw=-58.8deg [env.py: 1019] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27295865 -1.17262144 -0.10682533] yaw=-50.8deg [env.py: 1019] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53555703 -0.94286228 -0.10682533] yaw=-59.6deg [env.py: 1019] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.6ms [env.py: 1075] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -0.967, -0.107) [env.py: 1079] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/12 02:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:18 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191597m [env.py: 870] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.4ms, total=205.4ms [env.py: 1105] +05/12 02:35:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:19 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:35:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.38s (batch: 3.55s, save: 10.83s) [pipeline.py: 300] +05/12 02:35:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173746m [env.py: 870] +05/12 02:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22733204 -0.96892361 -0.17374593] yaw=-39.2deg [env.py: 1019] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:21 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.77s: + episode_total: mean=85.70s, total=171.39s, count=2, min=2195.0ms, max=169197.1ms + sensor_polling: mean=385.6ms, total=111.83s, count=290, min=295.6ms, max=613.5ms + save_trajectories: mean=10.83s, total=10.83s, count=1, min=10833.8ms, max=10833.8ms + physics_step: mean=25.2ms, total=7.31s, count=290, min=20.2ms, max=42.3ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3545.4ms, max=3545.4ms + task_sampling: mean=386.9ms, total=773.9ms, count=2, min=359.1ms, max=414.8ms + task_specific_sample: mean=384.0ms, total=768.1ms, count=2, min=356.5ms, max=411.6ms + scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.0ms, max=1.9ms + mj_forward_sync: mean=439.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.5ms, total=202.5ms [env.py: 1075] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -0.969, -0.174) [env.py: 1079] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg [env.py: 1082] +05/12 02:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 02:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:21 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135299m [env.py: 870] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=305.3ms, total=305.3ms [env.py: 1105] +05/12 02:35:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:22 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:35:22 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:35:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181733m [env.py: 870] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171496m [env.py: 870] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=448.4ms, total=448.5ms [env.py: 1105] +05/12 02:35:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:24 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=301.1ms, total=301.1ms [env.py: 1105] +05/12 02:35:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:24 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165513m [env.py: 870] +05/12 02:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=263.9ms, total=264.0ms [env.py: 1105] +05/12 02:35:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:26 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145231m [env.py: 870] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52148617 -0.76858493 -0.14523061] yaw=-60.0deg [env.py: 1019] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=364.4ms, total=364.4ms [env.py: 1075] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.769, -0.145) [env.py: 1079] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 02:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:26 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147195m [env.py: 870] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13940309 -1.02212265 -0.14719514] yaw=-32.9deg [env.py: 1019] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24054124 -0.99652879 -0.14719514] yaw=-43.9deg [env.py: 1019] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.5ms, total=221.6ms [env.py: 1075] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.139, -1.022, -0.147) [env.py: 1079] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.9 deg [env.py: 1082] +05/12 02:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:27 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.771s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:35:28 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:35:28 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 02:35:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.318s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:35:29 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179671m [env.py: 870] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=193.5ms, total=193.5ms [env.py: 1105] +05/12 02:35:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:35:30 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:35:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:30 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.756[m] 81.348[deg] [grasp_sample.py: 539] +05/12 02:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117046m [env.py: 870] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5886047 -0.87925496 -0.11704608] yaw=-55.6deg [env.py: 1019] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56976336 -0.98433948 -0.11704608] yaw=-55.1deg [env.py: 1019] +05/12 02:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25437999 -1.05968441 -0.11704608] yaw=-54.1deg [env.py: 1019] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.1ms, total=254.1ms [env.py: 1075] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.879, -0.117) [env.py: 1079] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:31 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:31 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:35:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102410m [env.py: 870] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28508662 -1.07411909 -0.10241048] yaw=-43.0deg [env.py: 1019] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60508145 -0.86675341 -0.10241048] yaw=-76.3deg [env.py: 1019] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.4ms [env.py: 1075] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -1.074, -0.102) [env.py: 1079] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 02:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:32 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168668m [env.py: 870] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59537442 -0.80842973 -0.16866792] yaw=-70.0deg [env.py: 1019] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31549354 -1.07947242 -0.16866792] yaw=-55.4deg [env.py: 1019] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46533705 -0.76485485 -0.16866792] yaw=-66.2deg [env.py: 1019] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=143.8ms, total=143.9ms [env.py: 1075] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.808, -0.169) [env.py: 1079] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg [env.py: 1082] +05/12 02:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:33 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.118s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:34 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.710[m] 86.531[deg] [grasp_sample.py: 539] +05/12 02:35:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.936s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.738[m] 90.755[deg] [grasp_sample.py: 539] +05/12 02:35:35 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:35:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:35:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:35:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:35:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:35:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:35:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:35:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:35:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:35:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121935m [env.py: 870] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:35:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62581234 -0.82247558 -0.12193473] yaw=-70.6deg [env.py: 1019] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:35:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.2ms, total=269.3ms [env.py: 1075] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.626, -0.822, -0.122) [env.py: 1079] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/12 02:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:35:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:35:37 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 02:35:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 02:35:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:35:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:35:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:35:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:35:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:35:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.031s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:44 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.713[m] 85.187[deg] [grasp_sample.py: 539] +05/12 02:35:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:35:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:35:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:35:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.511s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:35:51 INFO: [Worker 0] Feasible grasp found 927 (originally 263): w/ 0.775[m] 84.627[deg] [grasp_sample.py: 539] +05/12 02:35:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:35:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:35:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:35:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:36:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:36:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:36:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:36:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:36:21 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:36:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.849s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:36:22 INFO: [Worker 0] Feasible grasp found 1267 (originally 603): w/ 0.614[m] 63.805[deg] [grasp_sample.py: 539] +05/12 02:36:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:36:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:36:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:36:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:36:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:36:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:36:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:39 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:36:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:36:39 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/12 02:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:36:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:36:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:36:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:36:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:36:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:36:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.522s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:36:43 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.114[m] 9.592[deg] [grasp_sample.py: 539] +05/12 02:36:44 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:36:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142727m [env.py: 870] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.0ms, total=212.1ms [env.py: 1105] +05/12 02:36:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:36:45 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:36:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137524m [env.py: 870] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13503649 -1.11076195 -0.13752369] yaw=-41.4deg [env.py: 1019] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.62870368 -0.90083377 -0.13752369] yaw=-76.2deg [env.py: 1019] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46223305 -1.08485631 -0.13752369] yaw=-41.8deg [env.py: 1019] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:36:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.8ms [env.py: 1075] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -1.111, -0.138) [env.py: 1079] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/12 02:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:36:47 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 02:36:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 02:36:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:36:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:36:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:36:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:36:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.297s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:36:48 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:36:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.034s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:36:50 INFO: [Worker 0] Feasible grasp found 1244 (originally 580): w/ 0.627[m] 68.300[deg] [grasp_sample.py: 539] +05/12 02:36:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133588m [env.py: 870] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25100004 -1.19190764 -0.13358795] yaw=-37.9deg [env.py: 1019] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.64087401 -0.97492252 -0.13358795] yaw=-76.8deg [env.py: 1019] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:36:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.1ms [env.py: 1075] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.192, -0.134) [env.py: 1079] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 02:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:36:50 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 02:36:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:36:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:36:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:36:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:36:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:36:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:36:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.62s (batch: 3.14s, save: 8.48s) [pipeline.py: 300] +05/12 02:36:51 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:36:51 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=1.90s: + episode_total: mean=27.01s, total=135.06s, count=5, min=189.9ms, max=127299.6ms + sensor_polling: mean=335.7ms, total=85.27s, count=254, min=298.5ms, max=799.1ms + save_trajectories: mean=8.48s, total=8.48s, count=1, min=8484.3ms, max=8484.3ms + physics_step: mean=21.7ms, total=5.51s, count=254, min=14.4ms, max=33.3ms + save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3140.2ms, max=3140.2ms + task_specific_sample: mean=467.2ms, total=2.34s, count=5, min=185.7ms, max=1072.5ms + task_sampling: mean=633.4ms, total=1.90s, count=3, min=403.0ms, max=1074.6ms + task_sampling_failed: mean=224.8ms, total=449.7ms, count=2, min=189.9ms, max=259.8ms + scene_randomize: mean=1.3ms, total=6.4ms, count=5, min=0.9ms, max=2.5ms + mj_forward_sync: mean=396.9us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:36:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.328s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:36:51 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.698[m] 96.253[deg] [grasp_sample.py: 539] +05/12 02:36:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:36:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:36:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:36:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117178m [env.py: 870] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56928897 -0.85504517 -0.11717829] yaw=-73.6deg [env.py: 1019] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23293081 -1.14866481 -0.11717829] yaw=-35.6deg [env.py: 1019] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=382.2ms, total=382.3ms [env.py: 1075] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.855, -0.117) [env.py: 1079] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg [env.py: 1082] +05/12 02:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 02:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135730m [env.py: 870] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:36:53 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 02:36:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.6ms, total=212.6ms [env.py: 1105] +05/12 02:36:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:36:53 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:36:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 02:36:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:36:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:36:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:36:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140525m [env.py: 870] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=204.2ms, total=204.2ms [env.py: 1105] +05/12 02:36:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:36:54 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:36:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185343m [env.py: 870] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39107122 -0.80210202 -0.18534327] yaw=-54.4deg [env.py: 1019] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41089532 -1.08249315 -0.18534327] yaw=-51.8deg [env.py: 1019] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:36:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1075] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.802, -0.185) [env.py: 1079] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 02:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:36:56 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 02:36:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 02:36:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:36:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:36:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:36:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:36:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.988s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:36:58 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:36:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:36:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:36:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173786m [env.py: 870] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64303588 -0.85735548 -0.17378568] yaw=-77.2deg [env.py: 1019] +05/12 02:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:37:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.0ms, total=217.1ms [env.py: 1075] +05/12 02:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.643, -0.857, -0.174) [env.py: 1079] +05/12 02:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.2 deg [env.py: 1082] +05/12 02:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/12 02:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:37:00 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 02:37:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:37:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:37:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.022s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.690[m] 92.319[deg] [grasp_sample.py: 539] +05/12 02:37:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.457s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:02 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.749[m] 96.074[deg] [grasp_sample.py: 539] +05/12 02:37:03 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:37:03 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:37:03 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 02:37:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:37:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:37:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:37:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:37:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:37:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143022m [env.py: 870] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:37:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3477279 -0.89331587 -0.14302233] yaw=-51.0deg [env.py: 1019] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:37:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.2ms [env.py: 1075] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -0.893, -0.143) [env.py: 1079] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 02:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:37:05 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 02:37:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:37:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:37:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:37:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:37:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:37:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172362m [env.py: 870] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:37:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:37:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:37:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51445706 -0.78590008 -0.17236171] yaw=-73.7deg [env.py: 1019] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.12089557 -1.0476695 -0.17236171] yaw=-33.1deg [env.py: 1019] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:37:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.2ms, total=240.2ms [env.py: 1075] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.786, -0.172) [env.py: 1079] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg [env.py: 1082] +05/12 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:37:05 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 02:37:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 02:37:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.559s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:07 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 02:37:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:37:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:37:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:37:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:37:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:37:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:37:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144831m [env.py: 870] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:37:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.1ms, total=186.2ms [env.py: 1105] +05/12 02:37:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:37:09 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:37:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:09 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 02:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:37:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:37:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:37:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192835m [env.py: 870] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27566475 -0.90584894 -0.19283479] yaw=-57.6deg [env.py: 1019] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:37:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.3ms, total=192.4ms [env.py: 1075] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.906, -0.193) [env.py: 1079] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:37:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:37:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:37:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162149m [env.py: 870] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47848837 -1.06441461 -0.16214892] yaw=-59.0deg [env.py: 1019] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57207419 -0.89985718 -0.16214892] yaw=-56.3deg [env.py: 1019] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44144383 -1.0940641 -0.16214892] yaw=-54.4deg [env.py: 1019] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=241.7ms, total=241.7ms [env.py: 1075] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.478, -1.064, -0.162) [env.py: 1079] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 02:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 02:37:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:37:11 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 02:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 02:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:37:11 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 02:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.348s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:37:12 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:37:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.589[m] 88.854[deg] [grasp_sample.py: 539] +05/12 02:37:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:37:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:37:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:37:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:37:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:37:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:37:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:37:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:37:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162688m [env.py: 870] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:37:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41344397 -1.06424677 -0.16268756] yaw=-44.9deg [env.py: 1019] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.1516729 -0.99278234 -0.16268756] yaw=-45.3deg [env.py: 1019] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:37:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=583.8ms, total=583.8ms [env.py: 1075] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -1.064, -0.163) [env.py: 1079] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/12 02:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:37:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:37:14 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 02:37:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:37:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.663s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:18 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.632[m] 76.585[deg] [grasp_sample.py: 539] +05/12 02:37:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:37:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:37:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:37:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:37:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:37:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.382s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:39 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.443[m] 61.397[deg] [grasp_sample.py: 539] +05/12 02:37:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:37:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:37:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:47 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:37:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:37:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:37:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:37:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:37:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:37:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.037s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:37:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.443[m] 61.399[deg] [grasp_sample.py: 539] +05/12 02:37:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:37:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:37:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:38:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:38:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:38:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:38:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.480s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:38:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.443[m] 61.399[deg] [grasp_sample.py: 539] +05/12 02:38:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:38:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:38:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:38:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:38:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:38:06 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 02:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:38:16 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 02:38:17 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 02:38:17 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=False episode_total=3.03s: + episode_total: mean=18.24s, total=164.12s, count=9, min=271.6ms, max=74173.1ms + sensor_polling: mean=333.4ms, total=43.01s, count=129, min=305.5ms, max=432.8ms + task_specific_sample: mean=450.1ms, total=4.05s, count=9, min=268.8ms, max=605.3ms + task_sampling: mean=505.6ms, total=3.03s, count=6, min=457.1ms, max=608.4ms + physics_step: mean=19.6ms, total=2.53s, count=129, min=13.2ms, max=28.1ms + task_sampling_failed: mean=350.8ms, total=1.05s, count=3, min=271.6ms, max=465.1ms + scene_randomize: mean=1.3ms, total=11.4ms, count=9, min=1.0ms, max=2.4ms + mj_forward_sync: mean=441.2us, total=4.0ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=11.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:38:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:38:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:38:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:38:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:38:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:38:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175888m [env.py: 870] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:38:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.67238388 -0.94615915 -0.17588848] yaw=-73.5deg [env.py: 1019] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms [env.py: 1075] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.672, -0.946, -0.176) [env.py: 1079] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg [env.py: 1082] +05/12 02:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:38:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:38:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.15s (batch: 3.35s, save: 8.79s) [pipeline.py: 300] +05/12 02:38:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:38:19 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 02:38:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:38:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:38:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:38:19 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=2.47s: + episode_total: mean=19.00s, total=190.02s, count=10, min=179.8ms, max=167840.5ms + sensor_polling: mean=409.5ms, total=113.44s, count=277, min=329.2ms, max=842.4ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8794.5ms, max=8794.5ms + physics_step: mean=23.8ms, total=6.59s, count=277, min=19.4ms, max=71.5ms + task_specific_sample: mean=364.6ms, total=3.65s, count=10, min=176.8ms, max=580.1ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3352.6ms, max=3352.6ms + task_sampling: mean=494.6ms, total=2.47s, count=5, min=406.3ms, max=582.2ms + task_sampling_failed: mean=240.3ms, total=1.20s, count=5, min=179.8ms, max=325.9ms + scene_randomize: mean=1.2ms, total=12.1ms, count=10, min=0.9ms, max=2.5ms + mj_forward_sync: mean=444.4us, total=4.4ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=15.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:38:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:38:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:38:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:38:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175647m [env.py: 870] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.570s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:38:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.615[m] 95.953[deg] [grasp_sample.py: 539] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11684635 -1.03858073 -0.17564711] yaw=-43.0deg [env.py: 1019] +05/12 02:38:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32878951 -0.82582609 -0.17564711] yaw=-64.9deg [env.py: 1019] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54252753 -0.85248527 -0.17564711] yaw=-55.8deg [env.py: 1019] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.6ms, total=234.6ms [env.py: 1075] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -1.039, -0.176) [env.py: 1079] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:38:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:38:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:38:21 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 02:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 02:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:38:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:38:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:38:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.594s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:38:22 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:38:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:38:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:38:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166928m [env.py: 870] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39230773 -1.0236703 -0.16692806] yaw=-56.0deg [env.py: 1019] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.3ms [env.py: 1075] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.024, -0.167) [env.py: 1079] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 02:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:38:24 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 02:38:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:38:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:38:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:38:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:38:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.750s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:38:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.678[m] 79.940[deg] [grasp_sample.py: 539] +05/12 02:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:38:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:38:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:38:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:33 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:38:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:38:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:38:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:38:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:38:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:38:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:38:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.497[m] 72.608[deg] [grasp_sample.py: 539] +05/12 02:38:46 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:38:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:38:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135748m [env.py: 870] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.5ms, total=200.5ms [env.py: 1105] +05/12 02:38:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:38:48 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:38:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:38:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:38:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:38:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:38:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118344m [env.py: 870] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:38:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54980327 -0.98251538 -0.11834441] yaw=-51.7deg [env.py: 1019] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms [env.py: 1075] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.983, -0.118) [env.py: 1079] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.7 deg [env.py: 1082] +05/12 02:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:38:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:38:49 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 02:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:38:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:38:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:38:53 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:38:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:38:53 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 02:38:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.831s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:38:55 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.716[m] 92.040[deg] [grasp_sample.py: 539] +05/12 02:38:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:38:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:38:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:39:03 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:39:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:39:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:39:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.26s (batch: 3.20s, save: 9.06s) [pipeline.py: 300] +05/12 02:39:06 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=3.39s: + episode_total: mean=20.63s, total=268.15s, count=13, min=206.1ms, max=136416.1ms + sensor_polling: mean=351.7ms, total=164.24s, count=467, min=297.2ms, max=558.9ms + physics_step: mean=23.0ms, total=10.73s, count=467, min=14.5ms, max=82.7ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9060.5ms, max=9060.5ms + task_specific_sample: mean=360.5ms, total=4.69s, count=13, min=202.3ms, max=493.3ms + task_sampling: mean=423.1ms, total=3.39s, count=8, min=346.0ms, max=495.4ms + save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3203.4ms, max=3203.4ms + task_sampling_failed: mean=267.8ms, total=1.34s, count=5, min=206.1ms, max=407.9ms + scene_randomize: mean=1.1ms, total=14.0ms, count=13, min=0.9ms, max=1.6ms + mj_forward_sync: mean=412.8us, total=5.4ms, count=13, min=0.3ms, max=0.6ms + policy_setup: mean=11.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:39:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:39:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:39:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:39:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:39:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:39:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:39:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148068m [env.py: 870] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:39:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23991653 -1.17690888 -0.14806838] yaw=-28.6deg [env.py: 1019] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43491771 -1.11413035 -0.14806838] yaw=-47.4deg [env.py: 1019] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19735181 -0.95014513 -0.14806838] yaw=-52.6deg [env.py: 1019] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:39:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.6ms [env.py: 1075] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -1.177, -0.148) [env.py: 1079] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.6 deg [env.py: 1082] +05/12 02:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:39:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:39:08 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 02:39:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 02:39:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:39:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:39:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:39:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.376s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:39:09 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.717[m] 79.983[deg] [grasp_sample.py: 539] +05/12 02:39:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:39:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:39:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:39:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:39:21 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:39:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:39:21 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 02:39:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:39:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:39:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:39:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:39:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.98s (batch: 3.27s, save: 10.71s) [pipeline.py: 300] +05/12 02:39:36 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=2.52s: + episode_total: mean=19.33s, total=154.67s, count=8, min=194.1ms, max=142625.2ms + sensor_polling: mean=338.8ms, total=88.77s, count=262, min=297.7ms, max=499.7ms + save_trajectories: mean=10.71s, total=10.71s, count=1, min=10706.4ms, max=10706.4ms + physics_step: mean=22.3ms, total=5.83s, count=262, min=19.8ms, max=40.6ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3271.6ms, max=3271.6ms + task_specific_sample: mean=390.7ms, total=3.13s, count=8, min=191.2ms, max=792.9ms + task_sampling: mean=503.1ms, total=2.52s, count=5, min=401.8ms, max=795.7ms + task_sampling_failed: mean=211.1ms, total=633.4ms, count=3, min=194.0ms, max=224.7ms + scene_randomize: mean=1.3ms, total=10.3ms, count=8, min=0.9ms, max=2.9ms + mj_forward_sync: mean=483.2us, total=3.9ms, count=8, min=0.4ms, max=0.7ms + policy_setup: mean=13.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:39:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:39:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:39:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:39:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:39:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:39:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:39:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120497m [env.py: 870] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:39:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49435166 -0.87258981 -0.12049736] yaw=-58.3deg [env.py: 1019] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39876055 -1.13278539 -0.12049736] yaw=-53.3deg [env.py: 1019] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:39:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=645.8ms, total=645.8ms [env.py: 1075] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.873, -0.120) [env.py: 1079] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 02:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:39:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:39:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:39:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:39:38 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 02:39:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 02:39:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:39:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:39:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:39:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:39:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.763[m] 77.743[deg] [grasp_sample.py: 539] +05/12 02:39:41 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:39:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:39:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:39:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:39:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:39:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:39:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:39:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173471m [env.py: 870] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:39:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4356474 -0.86277878 -0.17347126] yaw=-65.6deg [env.py: 1019] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27465104 -1.0066348 -0.17347126] yaw=-39.6deg [env.py: 1019] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:39:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=548.1ms, total=548.2ms [env.py: 1075] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -0.863, -0.173) [env.py: 1079] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg [env.py: 1082] +05/12 02:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:39:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:39:44 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 02:39:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 02:39:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:39:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:39:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:39:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:39:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.072s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:39:53 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.781[m] 92.804[deg] [grasp_sample.py: 539] +05/12 02:39:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:39:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:39:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:40:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:40:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:40:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:40:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 497 non-colliding grasps [grasp_sample.py: 465] +05/12 02:40:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.467s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:40:04 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.050[m] 3.989[deg] [grasp_sample.py: 539] +05/12 02:40:05 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:40:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:40:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:40:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:40:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:40:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:40:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169759m [env.py: 870] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:40:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3723872 -0.95051247 -0.16975892] yaw=-60.7deg [env.py: 1019] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44145535 -1.08600516 -0.16975892] yaw=-56.3deg [env.py: 1019] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:40:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=381.3ms, total=381.4ms [env.py: 1075] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.951, -0.170) [env.py: 1079] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/12 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:40:07 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 02:40:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 02:40:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:40:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:40:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:40:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:40:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:40:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.708[m] 85.461[deg] [grasp_sample.py: 539] +05/12 02:40:10 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:40:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:40:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:40:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127922m [env.py: 870] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.5ms, total=204.6ms [env.py: 1105] +05/12 02:40:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:40:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:40:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:40:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:40:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:40:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:40:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169812m [env.py: 870] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:40:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19460749 -1.13953168 -0.1698125 ] yaw=-48.6deg [env.py: 1019] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:40:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.1ms, total=262.2ms [env.py: 1075] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -1.140, -0.170) [env.py: 1079] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg [env.py: 1082] +05/12 02:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:40:14 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 02:40:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:40:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:40:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:40:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:40:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:40:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.528s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:40:16 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.701[m] 83.951[deg] [grasp_sample.py: 539] +05/12 02:40:17 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:40:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:40:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:40:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:40:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:40:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:40:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168465m [env.py: 870] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:40:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56866101 -0.98350209 -0.16846513] yaw=-70.3deg [env.py: 1019] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:40:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.4ms, total=232.4ms [env.py: 1075] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.984, -0.168) [env.py: 1079] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg [env.py: 1082] +05/12 02:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:40:19 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 02:40:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:40:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:40:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:40:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:40:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:40:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.448s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:40:22 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.643[m] 79.315[deg] [grasp_sample.py: 539] +05/12 02:40:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:40:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:40:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:40:24 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:40:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:40:46 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 02:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:40:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:40:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:40:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:40:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:40:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:40:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.512s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:40:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.453[m] 51.187[deg] [grasp_sample.py: 539] +05/12 02:40:52 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:40:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:40:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:40:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:40:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:40:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:40:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186673m [env.py: 870] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:40:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29351533 -0.88057 -0.18667276] yaw=-57.9deg [env.py: 1019] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37967261 -1.13612224 -0.18667276] yaw=-40.9deg [env.py: 1019] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:40:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.3ms, total=198.3ms [env.py: 1075] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -0.881, -0.187) [env.py: 1079] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/12 02:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:40:53 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 02:40:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:40:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:40:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:40:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:40:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.343s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:40:55 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:40:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:40:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:40:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:40:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:40:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:40:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:40:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133120m [env.py: 870] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:40:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31041948 -1.03250786 -0.1331203 ] yaw=-58.8deg [env.py: 1019] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:40:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1075] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.033, -0.133) [env.py: 1079] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/12 02:40:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:40:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:40:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:40:57 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 02:40:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:40:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:40:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:40:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:40:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:40:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:40:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.55s (batch: 3.26s, save: 9.29s) [pipeline.py: 300] +05/12 02:40:59 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.90s: + episode_total: mean=78.64s, total=157.28s, count=2, min=2297.4ms, max=154985.2ms + sensor_polling: mean=389.6ms, total=104.79s, count=269, min=329.9ms, max=686.0ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.0ms, max=9292.0ms + physics_step: mean=23.5ms, total=6.31s, count=269, min=19.7ms, max=69.7ms + save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3259.6ms, max=3259.6ms + task_sampling: mean=452.3ms, total=904.6ms, count=2, min=417.2ms, max=487.5ms + task_specific_sample: mean=449.6ms, total=899.1ms, count=2, min=414.7ms, max=484.4ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=0.9ms, max=1.8ms + mj_forward_sync: mean=393.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:40:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:41:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168962m [env.py: 870] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25565331 -0.95427261 -0.16896194] yaw=-37.8deg [env.py: 1019] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=394.0ms, total=394.1ms [env.py: 1075] +05/12 02:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -0.954, -0.169) [env.py: 1079] +05/12 02:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 02:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 02:41:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:01 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.894s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:02 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.760[m] 82.909[deg] [grasp_sample.py: 539] +05/12 02:41:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.619s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:41:03 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:41:03 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:41:03 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156236m [env.py: 870] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117847m [env.py: 870] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=378.6ms, total=378.7ms [env.py: 1105] +05/12 02:41:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:04 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=365.5ms, total=365.6ms [env.py: 1105] +05/12 02:41:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:04 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192662m [env.py: 870] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116753m [env.py: 870] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=248.6ms, total=248.7ms [env.py: 1105] +05/12 02:41:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:06 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37962065 -0.981046 -0.11675273] yaw=-56.2deg [env.py: 1019] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=351.1ms, total=351.2ms [env.py: 1075] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -0.981, -0.117) [env.py: 1079] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 02:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:07 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125895m [env.py: 870] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32668553 -1.03393634 -0.12589466] yaw=-49.0deg [env.py: 1019] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5539959 -0.98258766 -0.12589466] yaw=-69.5deg [env.py: 1019] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=204.4ms, total=204.4ms [env.py: 1075] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -1.034, -0.126) [env.py: 1079] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/12 02:41:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:08 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.818s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:10 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.737[m] 86.078[deg] [grasp_sample.py: 539] +05/12 02:41:11 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:41:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140842m [env.py: 870] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.5ms, total=209.5ms [env.py: 1105] +05/12 02:41:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:12 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.191s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:12 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.773[m] 83.646[deg] [grasp_sample.py: 539] +05/12 02:41:14 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:41:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103543m [env.py: 870] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=465.5ms, total=465.6ms [env.py: 1105] +05/12 02:41:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:14 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174164m [env.py: 870] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1105] +05/12 02:41:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:15 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183951m [env.py: 870] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49572839 -0.85382155 -0.18395098] yaw=-64.7deg [env.py: 1019] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38451245 -1.11987382 -0.18395098] yaw=-37.1deg [env.py: 1019] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=235.2ms, total=235.2ms [env.py: 1075] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.854, -0.184) [env.py: 1079] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 02:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:16 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130266m [env.py: 870] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.1ms, total=210.2ms [env.py: 1105] +05/12 02:41:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:17 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142380m [env.py: 870] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45308906 -0.92213235 -0.14238003] yaw=-57.3deg [env.py: 1019] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4827177 -0.7608149 -0.14238003] yaw=-75.2deg [env.py: 1019] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.024s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.717[m] 78.611[deg] [grasp_sample.py: 539] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=209.9ms, total=209.9ms [env.py: 1075] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.922, -0.142) [env.py: 1079] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 02:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:19 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:20 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.726[m] 90.663[deg] [grasp_sample.py: 539] +05/12 02:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124487m [env.py: 870] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36797583 -0.96470294 -0.12448705] yaw=-62.8deg [env.py: 1019] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.6ms, total=212.6ms [env.py: 1075] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -0.965, -0.124) [env.py: 1079] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/12 02:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:21 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:22 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:41:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199859m [env.py: 870] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57994494 -0.77344316 -0.19985877] yaw=-59.6deg [env.py: 1019] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=339.9ms, total=340.0ms [env.py: 1075] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.580, -0.773, -0.200) [env.py: 1079] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg [env.py: 1082] +05/12 02:41:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:23 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.764s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.736[m] 87.550[deg] [grasp_sample.py: 539] +05/12 02:41:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:41:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:41:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:41:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:41:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:41:25 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 02:41:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.712s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:34 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.764[m] 92.163[deg] [grasp_sample.py: 539] +05/12 02:41:36 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:41:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178543m [env.py: 870] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30113266 -0.87678611 -0.1785428 ] yaw=-60.9deg [env.py: 1019] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.3ms, total=221.4ms [env.py: 1075] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -0.877, -0.179) [env.py: 1079] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 02:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:37 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.561s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:41:39 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:41:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:41:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:41:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.98s (batch: 3.70s, save: 11.29s) [pipeline.py: 300] +05/12 02:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177536m [env.py: 870] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.2ms, total=216.2ms [env.py: 1105] +05/12 02:41:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:40 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:41 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.41s: + episode_total: mean=153.60s, total=153.60s, count=1, min=153599.2ms, max=153599.2ms + sensor_polling: mean=373.2ms, total=104.49s, count=280, min=300.7ms, max=665.1ms + save_trajectories: mean=11.29s, total=11.29s, count=1, min=11286.9ms, max=11286.9ms + physics_step: mean=25.0ms, total=7.00s, count=280, min=18.0ms, max=61.0ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3697.1ms, max=3697.1ms + task_sampling: mean=413.3ms, total=413.3ms, count=1, min=413.3ms, max=413.3ms + task_specific_sample: mean=409.9ms, total=409.9ms, count=1, min=409.9ms, max=409.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=366.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165327m [env.py: 870] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142897m [env.py: 870] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54109665 -0.87332087 -0.16532743] yaw=-70.9deg [env.py: 1019] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=377.5ms, total=377.5ms [env.py: 1075] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.873, -0.165) [env.py: 1079] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg [env.py: 1082] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24656945 -0.97118666 -0.14289664] yaw=-50.4deg [env.py: 1019] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41736688 -0.80176288 -0.14289664] yaw=-60.1deg [env.py: 1019] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=205.0ms, total=205.1ms [env.py: 1075] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.971, -0.143) [env.py: 1079] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 02:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:42 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:43 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:41:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:43 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.458s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:41:44 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:41:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149896m [env.py: 870] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27174066 -0.90976225 -0.14989587] yaw=-52.4deg [env.py: 1019] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4492016 -1.02111623 -0.14989587] yaw=-50.8deg [env.py: 1019] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.3ms, total=176.4ms [env.py: 1075] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -0.910, -0.150) [env.py: 1079] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg [env.py: 1082] +05/12 02:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:46 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.165s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:47 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.732[m] 86.958[deg] [grasp_sample.py: 539] +05/12 02:41:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:41:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:41:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:41:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:41:48 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:41:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:41:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156181m [env.py: 870] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=274.9ms, total=274.9ms [env.py: 1105] +05/12 02:41:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:41:49 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:41:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:41:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:41:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:41:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:41:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:41:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:41:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184516m [env.py: 870] +05/12 02:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:41:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4094011 -1.05560702 -0.18451605] yaw=-47.9deg [env.py: 1019] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3670919 -1.12522287 -0.18451605] yaw=-52.2deg [env.py: 1019] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:41:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=388.4ms, total=388.4ms [env.py: 1075] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -1.056, -0.185) [env.py: 1079] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 02:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 02:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:41:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:41:51 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 02:41:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:41:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:41:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:41:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:41:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.814s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:41:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.656[m] 82.716[deg] [grasp_sample.py: 539] +05/12 02:41:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:41:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:41:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:42:07 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:42:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:42:07 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 02:42:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:42:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:42:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.94s (batch: 3.49s, save: 9.45s) [pipeline.py: 300] +05/12 02:42:20 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.66s: + episode_total: mean=80.68s, total=161.37s, count=2, min=3874.8ms, max=157493.2ms + sensor_polling: mean=349.3ms, total=100.94s, count=289, min=304.8ms, max=764.1ms + save_trajectories: mean=9.45s, total=9.45s, count=1, min=9454.6ms, max=9454.6ms + physics_step: mean=22.5ms, total=6.51s, count=289, min=14.7ms, max=64.9ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3485.7ms, max=3485.7ms + task_sampling: mean=830.9ms, total=1.66s, count=2, min=756.7ms, max=905.1ms + task_specific_sample: mean=827.5ms, total=1.66s, count=2, min=753.3ms, max=901.8ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms + mj_forward_sync: mean=491.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:42:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:42:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:42:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:42:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:42:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:42:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145057m [env.py: 870] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:42:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.8ms, total=193.9ms [env.py: 1105] +05/12 02:42:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:42:22 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:42:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:42:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:42:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148861m [env.py: 870] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39403209 -0.92544145 -0.14886107] yaw=-58.9deg [env.py: 1019] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21518744 -0.93918072 -0.14886107] yaw=-51.2deg [env.py: 1019] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26109739 -1.16372203 -0.14886107] yaw=-40.3deg [env.py: 1019] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:42:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.6ms, total=126.6ms [env.py: 1075] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.925, -0.149) [env.py: 1079] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/12 02:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:42:23 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 02:42:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 02:42:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:42:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:42:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:42:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:42:26 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.749[m] 75.444[deg] [grasp_sample.py: 539] +05/12 02:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:27 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:42:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:42:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:42:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:42:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:42:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:42:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150247m [env.py: 870] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:42:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.1ms, total=215.2ms [env.py: 1105] +05/12 02:42:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:42:29 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:42:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:42:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:42:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:42:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:42:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:42:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:42:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:42:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:42:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160514m [env.py: 870] +05/12 02:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:42:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64037377 -0.92385009 -0.16051419] yaw=-65.0deg [env.py: 1019] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:42:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=372.9ms, total=373.0ms [env.py: 1075] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.640, -0.924, -0.161) [env.py: 1079] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 02:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 02:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:42:31 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 02:42:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 02:42:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:42:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:42:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:42:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.188s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:42:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.653[m] 83.653[deg] [grasp_sample.py: 539] +05/12 02:42:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:42:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:42:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:42:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:42:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.192[m] 15.698[deg] [grasp_sample.py: 539] +05/12 02:42:36 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:42:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:42:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:42:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:42:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:42:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:42:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145454m [env.py: 870] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:42:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=197.9ms, total=198.0ms [env.py: 1105] +05/12 02:42:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:42:38 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:42:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:42:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:42:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:42:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187684m [env.py: 870] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47625096 -1.08340098 -0.18768384] yaw=-61.2deg [env.py: 1019] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:42:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=199.9ms [env.py: 1075] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -1.083, -0.188) [env.py: 1079] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 02:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:42:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:42:40 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 02:42:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:42:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:42:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:42:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:42:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.602[m] 91.930[deg] [grasp_sample.py: 539] +05/12 02:42:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:42:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:42:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:42:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:42:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.842s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:42:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.187[m] 7.852[deg] [grasp_sample.py: 539] +05/12 02:42:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:42:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:42:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:42:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:42:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:42:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:42:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.746s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.487[m] 57.647[deg] [grasp_sample.py: 539] +05/12 02:43:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:43:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:43:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:43:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:43:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:43:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:43:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:43:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:43:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.482[m] 56.975[deg] [grasp_sample.py: 539] +05/12 02:43:14 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.879s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:15 INFO: [Worker 0] Feasible grasp found 259 (originally 259): w/ 0.161[m] 7.517[deg] [grasp_sample.py: 539] +05/12 02:43:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:43:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:43:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:43:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112048m [env.py: 870] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10144398 -1.07524451 -0.11204786] yaw=-30.3deg [env.py: 1019] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53421305 -0.74943308 -0.11204786] yaw=-62.2deg [env.py: 1019] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=204.0ms [env.py: 1075] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.101, -1.075, -0.112) [env.py: 1079] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.3 deg [env.py: 1082] +05/12 02:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:16 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.387s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:43:18 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:43:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184887m [env.py: 870] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49299918 -0.91312805 -0.1848871 ] yaw=-56.6deg [env.py: 1019] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=207.9ms [env.py: 1075] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.913, -0.185) [env.py: 1079] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/12 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:19 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:20 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.498[m] 62.805[deg] [grasp_sample.py: 539] +05/12 02:43:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:21 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.702[m] 72.580[deg] [grasp_sample.py: 539] +05/12 02:43:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:43:21 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:22 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103921m [env.py: 870] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21836781 -1.02318409 -0.10392146] yaw=-42.9deg [env.py: 1019] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34894349 -1.03462402 -0.10392146] yaw=-47.7deg [env.py: 1019] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.2ms [env.py: 1075] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.023, -0.104) [env.py: 1079] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:23 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123008m [env.py: 870] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.2ms, total=201.2ms [env.py: 1105] +05/12 02:43:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:43:24 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:43:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171060m [env.py: 870] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.778s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:43:25 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=190.0ms, total=190.1ms [env.py: 1105] +05/12 02:43:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:43:25 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.165s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:25 INFO: [Worker 0] Feasible grasp found 466 (originally 466): w/ 0.285[m] 11.952[deg] [grasp_sample.py: 539] +05/12 02:43:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138122m [env.py: 870] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163424m [env.py: 870] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.3ms, total=206.3ms [env.py: 1105] +05/12 02:43:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:43:26 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61133028 -0.92824541 -0.16342382] yaw=-59.2deg [env.py: 1019] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=353.1ms, total=353.2ms [env.py: 1075] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.928, -0.163) [env.py: 1079] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/12 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:27 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:27 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118168m [env.py: 870] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49379007 -0.90855482 -0.11816759] yaw=-67.7deg [env.py: 1019] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55674661 -0.79651681 -0.11816759] yaw=-59.8deg [env.py: 1019] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.3ms [env.py: 1075] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.909, -0.118) [env.py: 1079] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:28 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182698m [env.py: 870] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42892402 -0.82657974 -0.18269803] yaw=-56.1deg [env.py: 1019] +05/12 02:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.4ms, total=222.4ms [env.py: 1075] +05/12 02:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -0.827, -0.183) [env.py: 1079] +05/12 02:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/12 02:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 02:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:29 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.735[m] 87.869[deg] [grasp_sample.py: 539] +05/12 02:43:32 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:43:32 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.632s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:33 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.678[m] 87.336[deg] [grasp_sample.py: 539] +05/12 02:43:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:43:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:43:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:43:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:43:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164378m [env.py: 870] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49129574 -0.74551021 -0.16437781] yaw=-74.6deg [env.py: 1019] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.4ms, total=281.5ms [env.py: 1075] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.746, -0.164) [env.py: 1079] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg [env.py: 1082] +05/12 02:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:34 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:43:36 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128005m [env.py: 870] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42877144 -1.05896856 -0.12800482] yaw=-56.7deg [env.py: 1019] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5572739 -0.88397184 -0.12800482] yaw=-59.3deg [env.py: 1019] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.6ms [env.py: 1075] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.059, -0.128) [env.py: 1079] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 02:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:37 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.333s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:38 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 02:43:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158713m [env.py: 870] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17242567 -1.02643561 -0.15871288] yaw=-34.7deg [env.py: 1019] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=385.7ms, total=385.7ms [env.py: 1075] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.172, -1.026, -0.159) [env.py: 1079] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg [env.py: 1082] +05/12 02:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:40 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.904s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.666[m] 83.311[deg] [grasp_sample.py: 539] +05/12 02:43:42 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:43:42 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175151m [env.py: 870] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108770m [env.py: 870] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51377639 -0.90534389 -0.10876959] yaw=-58.2deg [env.py: 1019] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.1ms, total=228.1ms [env.py: 1075] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.905, -0.109) [env.py: 1079] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55263906 -0.81019252 -0.17515099] yaw=-71.9deg [env.py: 1019] +05/12 02:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=590.8ms, total=590.9ms [env.py: 1075] +05/12 02:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.810, -0.175) [env.py: 1079] +05/12 02:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 02:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 02:43:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:44 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:44 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.797s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.752[m] 83.732[deg] [grasp_sample.py: 539] +05/12 02:43:47 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.898s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:48 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.733[m] 83.130[deg] [grasp_sample.py: 539] +05/12 02:43:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113497m [env.py: 870] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46240695 -0.7498473 -0.11349727] yaw=-65.2deg [env.py: 1019] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34905627 -1.02419583 -0.11349727] yaw=-44.6deg [env.py: 1019] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.6ms, total=224.6ms [env.py: 1075] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.750, -0.113) [env.py: 1079] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/12 02:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:48 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:43:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:43:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:43:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:43:50 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:43:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146422m [env.py: 870] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29020671 -1.19331773 -0.14642201] yaw=-49.5deg [env.py: 1019] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=298.3ms, total=298.4ms [env.py: 1075] +05/12 02:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.290, -1.193, -0.146) [env.py: 1079] +05/12 02:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 02:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 02:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:43:52 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 02:43:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 02:43:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:43:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:43:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:43:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:43:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:43:52 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 02:43:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:43:55 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.673[m] 83.857[deg] [grasp_sample.py: 539] +05/12 02:43:56 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:43:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:43:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:43:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:43:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:43:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:43:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:43:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165363m [env.py: 870] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:43:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:43:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=309.1ms, total=309.1ms [env.py: 1105] +05/12 02:43:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:43:58 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:44:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:44:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:44:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:44:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:44:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:44:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:44:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177004m [env.py: 870] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:44:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33309823 -0.82583265 -0.1770042 ] yaw=-65.0deg [env.py: 1019] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26754105 -0.98439195 -0.1770042 ] yaw=-46.4deg [env.py: 1019] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:44:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.3ms, total=339.4ms [env.py: 1075] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.826, -0.177) [env.py: 1079] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 02:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:44:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:44:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:44:00 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 02:44:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 02:44:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:44:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:44:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:44:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:44:02 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:44:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:44:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:44:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:44:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:44:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:44:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:44:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151896m [env.py: 870] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:44:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18601278 -1.15089722 -0.15189645] yaw=-35.5deg [env.py: 1019] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:44:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.6ms, total=225.6ms [env.py: 1075] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -1.151, -0.152) [env.py: 1079] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg [env.py: 1082] +05/12 02:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:44:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:44:04 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 02:44:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 02:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:44:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:44:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:44:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:44:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:44:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.35s (batch: 3.30s, save: 9.05s) [pipeline.py: 300] +05/12 02:44:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.396s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:44:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.680[m] 90.918[deg] [grasp_sample.py: 539] +05/12 02:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:44:05 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=1.55s: + episode_total: mean=34.83s, total=139.30s, count=4, min=283.2ms, max=134870.8ms + sensor_polling: mean=338.8ms, total=90.13s, count=266, min=300.9ms, max=566.5ms + save_trajectories: mean=9.05s, total=9.05s, count=1, min=9051.5ms, max=9051.5ms + physics_step: mean=22.0ms, total=5.85s, count=266, min=14.8ms, max=32.2ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3302.1ms, max=3302.1ms + task_specific_sample: mean=454.0ms, total=1.82s, count=4, min=279.8ms, max=602.6ms + task_sampling: mean=515.4ms, total=1.55s, count=3, min=366.2ms, max=605.4ms + task_sampling_failed: mean=283.2ms, total=283.2ms, count=1, min=283.2ms, max=283.2ms + scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=0.9ms, max=3.1ms + mj_forward_sync: mean=503.6us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:44:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:44:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:44:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:44:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:44:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:44:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:44:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:44:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:44:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101600m [env.py: 870] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:44:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37894763 -0.91744014 -0.10159956] yaw=-56.0deg [env.py: 1019] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34257642 -1.12469557 -0.10159956] yaw=-54.3deg [env.py: 1019] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56481795 -0.9283215 -0.10159956] yaw=-66.4deg [env.py: 1019] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:44:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.4ms, total=243.5ms [env.py: 1075] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -0.917, -0.102) [env.py: 1079] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 02:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:44:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:44:07 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 02:44:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 02:44:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:44:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:44:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:44:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:44:12 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.784[m] 81.185[deg] [grasp_sample.py: 539] +05/12 02:44:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:44:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:44:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:44:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:44:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:41 INFO: [Worker 0] Object is not in grasp! 0.00134 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:44:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:44:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:44:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 383 non-colliding grasps [grasp_sample.py: 465] +05/12 02:44:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:44:42 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.047[m] 0.876[deg] [grasp_sample.py: 539] +05/12 02:44:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:44:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:44:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:44:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:44:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:44:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:44:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:44:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:44:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:44:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.632s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:44:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.170[m] 7.843[deg] [grasp_sample.py: 539] +05/12 02:44:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:44:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:44:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:44:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:44:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:44:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:44:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.810s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:45:02 INFO: [Worker 0] Feasible grasp found 308 (originally 308): w/ 0.285[m] 11.655[deg] [grasp_sample.py: 539] +05/12 02:45:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:45:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:45:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:45:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:45:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:45:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 385 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:45:11 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.029[m] 21.510[deg] [grasp_sample.py: 539] +05/12 02:45:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:45:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:45:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:45:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:45:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:45:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:45:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.769s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:45:19 INFO: [Worker 0] Feasible grasp found 265 (originally 265): w/ 0.266[m] 11.016[deg] [grasp_sample.py: 539] +05/12 02:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:45:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:45:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:45:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:45:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:45:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.845s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:45:28 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.172[m] 11.021[deg] [grasp_sample.py: 539] +05/12 02:45:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:45:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:30 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:45:31 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 02:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:32 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 02:45:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:45:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:45:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:45:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.332s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:45:44 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.213[m] 11.081[deg] [grasp_sample.py: 539] +05/12 02:45:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:45:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:45:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:45:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/debug/chunk_007 [pipeline.py: 1174] +05/12 02:45:45 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 40703) [pipeline.py: 1213] +05/12 02:45:45 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=False episode_total=8.24s: + episode_total: mean=18.17s, total=417.99s, count=23, min=206.3ms, max=122170.6ms + sensor_polling: mean=350.0ms, total=205.80s, count=588, min=286.6ms, max=634.8ms + physics_step: mean=22.6ms, total=13.30s, count=588, min=14.8ms, max=166.1ms + task_specific_sample: mean=438.7ms, total=10.09s, count=23, min=203.3ms, max=823.6ms + task_sampling: mean=515.3ms, total=8.24s, count=16, min=410.2ms, max=826.0ms + task_sampling_failed: mean=273.7ms, total=1.92s, count=7, min=206.3ms, max=476.8ms + scene_randomize: mean=1.2ms, total=26.7ms, count=23, min=1.0ms, max=1.5ms + mj_forward_sync: mean=483.1us, total=11.1ms, count=23, min=0.4ms, max=0.7ms + policy_setup: mean=11.4us, total=0.2ms, count=16, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=23, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:45:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:45:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:45:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:45:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:45:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:45:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:45:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:45:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:45:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:45:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177867m [env.py: 870] +05/12 02:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:45:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20446045 -1.08008228 -0.17786711] yaw=-51.1deg [env.py: 1019] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:45:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms [env.py: 1075] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -1.080, -0.178) [env.py: 1079] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 02:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 02:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:45:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:45:47 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 02:45:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 02:45:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:45:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:45:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:51 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:45:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:45:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 02:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.991s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:45:53 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.719[m] 78.754[deg] [grasp_sample.py: 539] +05/12 02:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:45:54 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:45:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:45:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:45:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:45:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:45:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:45:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:45:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199637m [env.py: 870] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:45:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59474128 -0.91325937 -0.19963663] yaw=-76.5deg [env.py: 1019] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63550565 -0.89065897 -0.19963663] yaw=-59.0deg [env.py: 1019] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:45:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=161.3ms, total=161.3ms [env.py: 1075] +05/12 02:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.913, -0.200) [env.py: 1079] +05/12 02:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.5 deg [env.py: 1082] +05/12 02:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 02:45:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:45:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:45:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:45:56 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 02:45:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:45:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:45:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:45:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:45:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:45:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:45:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:45:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:45:57 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.652[m] 81.988[deg] [grasp_sample.py: 539] +05/12 02:45:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:45:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:45:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:46:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.638s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:01 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.277[m] 10.004[deg] [grasp_sample.py: 539] +05/12 02:46:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:46:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:46:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:46:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:46:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:46:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.92s (batch: 3.23s, save: 10.69s) [pipeline.py: 300] +05/12 02:46:05 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=2.40s: + episode_total: mean=23.69s, total=213.23s, count=9, min=199.1ms, max=158958.5ms + sensor_polling: mean=346.0ms, total=123.86s, count=358, min=294.4ms, max=619.7ms + save_trajectories: mean=10.69s, total=10.69s, count=1, min=10688.8ms, max=10688.8ms + physics_step: mean=22.9ms, total=8.19s, count=358, min=14.8ms, max=73.6ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3226.6ms, max=3226.6ms + task_specific_sample: mean=356.4ms, total=3.21s, count=9, min=196.0ms, max=659.2ms + task_sampling: mean=479.9ms, total=2.40s, count=5, min=336.7ms, max=661.7ms + task_sampling_failed: mean=209.2ms, total=837.0ms, count=4, min=199.0ms, max=223.0ms + scene_randomize: mean=1.3ms, total=11.4ms, count=9, min=1.0ms, max=2.3ms + mj_forward_sync: mean=435.1us, total=3.9ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=14.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:46:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156457m [env.py: 870] +05/12 02:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47849226 -0.91923135 -0.15645742] yaw=-59.8deg [env.py: 1019] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=201.0ms [env.py: 1075] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.478, -0.919, -0.156) [env.py: 1079] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/12 02:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 02:46:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:46:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:07 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:46:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.880s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:10 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.749[m] 81.927[deg] [grasp_sample.py: 539] +05/12 02:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:46:11 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:46:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150567m [env.py: 870] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26197602 -1.09592199 -0.15056664] yaw=-36.0deg [env.py: 1019] +05/12 02:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.9ms [env.py: 1075] +05/12 02:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.096, -0.151) [env.py: 1079] +05/12 02:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.0 deg [env.py: 1082] +05/12 02:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 02:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:13 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:13 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:46:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 02:46:17 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 02:46:17 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=0.50s: + episode_total: mean=130.40s, total=130.40s, count=1, min=130398.1ms, max=130398.1ms + sensor_polling: mean=378.6ms, total=64.37s, count=170, min=297.0ms, max=596.9ms + physics_step: mean=24.5ms, total=4.16s, count=170, min=19.7ms, max=58.4ms + task_sampling: mean=495.1ms, total=495.1ms, count=1, min=495.1ms, max=495.1ms + task_specific_sample: mean=491.6ms, total=491.6ms, count=1, min=491.6ms, max=491.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=377.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:46:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.762s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:18 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.762[m] 74.963[deg] [grasp_sample.py: 539] +05/12 02:46:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188542m [env.py: 870] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.604905 -0.92001127 -0.18854246] yaw=-68.0deg [env.py: 1019] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52719222 -0.87663692 -0.18854246] yaw=-69.8deg [env.py: 1019] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12054732 -1.08649314 -0.18854246] yaw=-36.5deg [env.py: 1019] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.6ms [env.py: 1075] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.920, -0.189) [env.py: 1079] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 02:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:19 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:19 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:46:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115803m [env.py: 870] +05/12 02:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60651872 -0.96691145 -0.11580302] yaw=-64.2deg [env.py: 1019] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62466565 -0.95501248 -0.11580302] yaw=-65.9deg [env.py: 1019] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=659.8ms, total=659.9ms [env.py: 1075] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.967, -0.116) [env.py: 1079] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.2 deg [env.py: 1082] +05/12 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:21 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.933s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 83.387[deg] [grasp_sample.py: 539] +05/12 02:46:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:46:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:46:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:46:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:28 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.676[m] 99.401[deg] [grasp_sample.py: 539] +05/12 02:46:30 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:46:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153421m [env.py: 870] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51842542 -0.94004576 -0.15342099] yaw=-50.4deg [env.py: 1019] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.3ms [env.py: 1075] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.940, -0.153) [env.py: 1079] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 02:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:31 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.637s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.686[m] 88.277[deg] [grasp_sample.py: 539] +05/12 02:46:34 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:46:35 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:46:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:46:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 02:46:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105305m [env.py: 870] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42219373 -0.91877832 -0.10530479] yaw=-55.3deg [env.py: 1019] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58142731 -0.74274885 -0.10530479] yaw=-72.8deg [env.py: 1019] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.56237626 -1.00271791 -0.10530479] yaw=-64.4deg [env.py: 1019] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=699.9ms, total=700.0ms [env.py: 1075] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.919, -0.105) [env.py: 1079] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 02:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:37 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.882s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:39 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.738[m] 91.772[deg] [grasp_sample.py: 539] +05/12 02:46:40 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:46:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151147m [env.py: 870] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.7ms, total=217.7ms [env.py: 1105] +05/12 02:46:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:46:41 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:46:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194762m [env.py: 870] +05/12 02:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26375936 -1.15398285 -0.19476179] yaw=-32.5deg [env.py: 1019] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=360.0ms, total=360.0ms [env.py: 1075] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.154, -0.195) [env.py: 1079] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.5 deg [env.py: 1082] +05/12 02:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 02:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:43 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.650[m] 83.298[deg] [grasp_sample.py: 539] +05/12 02:46:46 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:46:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154935m [env.py: 870] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.7ms, total=196.7ms [env.py: 1105] +05/12 02:46:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:46:47 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:46:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107955m [env.py: 870] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66103277 -0.9734725 -0.10795544] yaw=-66.7deg [env.py: 1019] +05/12 02:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13662299 -1.00157639 -0.10795544] yaw=-41.6deg [env.py: 1019] +05/12 02:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.9ms [env.py: 1075] +05/12 02:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.661, -0.973, -0.108) [env.py: 1079] +05/12 02:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/12 02:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 02:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:49 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:46:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:46:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.97s (batch: 4.08s, save: 9.89s) [pipeline.py: 300] +05/12 02:46:50 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=6.93s: + episode_total: mean=17.10s, total=324.84s, count=19, min=213.7ms, max=166606.4ms + sensor_polling: mean=377.1ms, total=179.88s, count=477, min=305.8ms, max=856.6ms + physics_step: mean=22.9ms, total=10.94s, count=477, min=15.0ms, max=91.3ms + save_trajectories: mean=9.89s, total=9.89s, count=1, min=9889.9ms, max=9889.9ms + task_specific_sample: mean=447.6ms, total=8.50s, count=19, min=210.4ms, max=671.6ms + task_sampling: mean=533.4ms, total=6.93s, count=13, min=416.0ms, max=674.2ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4084.9ms, max=4084.9ms + task_sampling_failed: mean=270.6ms, total=1.62s, count=6, min=213.7ms, max=387.2ms + scene_randomize: mean=1.2ms, total=23.5ms, count=19, min=0.9ms, max=2.4ms + mj_forward_sync: mean=445.0us, total=8.5ms, count=19, min=0.4ms, max=0.6ms + policy_setup: mean=14.2us, total=0.2ms, count=13, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:46:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:46:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169425m [env.py: 870] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20217097 -0.93196093 -0.16942494] yaw=-56.9deg [env.py: 1019] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.3ms, total=215.4ms [env.py: 1075] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -0.932, -0.169) [env.py: 1079] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 02:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:51 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:46:53 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:46:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.095s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:54 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.674[m] 98.114[deg] [grasp_sample.py: 539] +05/12 02:46:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170616m [env.py: 870] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.6ms [env.py: 1105] +05/12 02:46:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:46:54 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:46:55 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:46:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182163m [env.py: 870] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44636106 -0.96538027 -0.18216327] yaw=-62.7deg [env.py: 1019] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.0ms, total=222.0ms [env.py: 1075] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -0.965, -0.182) [env.py: 1079] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/12 02:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:56 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:46:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:46:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:46:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:46:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:46:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194276m [env.py: 870] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:46:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56939385 -0.79569789 -0.19427639] yaw=-62.0deg [env.py: 1019] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56218128 -1.01464154 -0.19427639] yaw=-53.1deg [env.py: 1019] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.6ms [env.py: 1075] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.796, -0.194) [env.py: 1079] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 02:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:46:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:46:57 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 02:46:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:46:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:46:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:46:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:46:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:46:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.561s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:46:59 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.753[m] 82.178[deg] [grasp_sample.py: 539] +05/12 02:47:00 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:47:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.843s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:47:00 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.670[m] 89.931[deg] [grasp_sample.py: 539] +05/12 02:47:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174269m [env.py: 870] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32314485 -1.21600674 -0.17426851] yaw=-50.6deg [env.py: 1019] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:47:01 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.533782 -0.9330691 -0.17426851] yaw=-68.2deg [env.py: 1019] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:47:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.1ms [env.py: 1075] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -1.216, -0.174) [env.py: 1079] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 02:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:47:02 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 02:47:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:47:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138548m [env.py: 870] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20087015 -0.97488851 -0.13854769] yaw=-34.6deg [env.py: 1019] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52031017 -0.7482869 -0.13854769] yaw=-63.1deg [env.py: 1019] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:47:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=220.3ms, total=220.3ms [env.py: 1075] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -0.975, -0.139) [env.py: 1079] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg [env.py: 1082] +05/12 02:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:47:03 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 02:47:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 02:47:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.545s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:47:03 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.630[m] 84.148[deg] [grasp_sample.py: 539] +05/12 02:47:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:47:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:47:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:47:05 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104982m [env.py: 870] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60464878 -0.83485136 -0.10498221] yaw=-77.0deg [env.py: 1019] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.3ms [env.py: 1075] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.835, -0.105) [env.py: 1079] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.0 deg [env.py: 1082] +05/12 02:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:47:06 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 02:47:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 02:47:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.638s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:47:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.758[m] 99.029[deg] [grasp_sample.py: 539] +05/12 02:47:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:47:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:47:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:11 INFO: [Worker 0] Object is not in grasp! 0.00123 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 02:47:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 377 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.298s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:47:14 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.103[m] 5.575[deg] [grasp_sample.py: 539] +05/12 02:47:15 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:47:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141780m [env.py: 870] +05/12 02:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=262.6ms, total=262.6ms [env.py: 1105] +05/12 02:47:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:47:17 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:47:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199462m [env.py: 870] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41992828 -0.80467148 -0.19946167] yaw=-71.3deg [env.py: 1019] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:47:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.805, -0.199) [env.py: 1079] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.3 deg [env.py: 1082] +05/12 02:47:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:47:18 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 02:47:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:47:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.358s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:47:20 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118846m [env.py: 870] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=290.8ms, total=290.8ms [env.py: 1105] +05/12 02:47:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:47:21 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:47:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117189m [env.py: 870] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=259.2ms, total=259.2ms [env.py: 1105] +05/12 02:47:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:47:23 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:47:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:47:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:47:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:47:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115822m [env.py: 870] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5072537 -0.98629394 -0.11582218] yaw=-57.2deg [env.py: 1019] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:47:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.9ms [env.py: 1075] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.986, -0.116) [env.py: 1079] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/12 02:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:47:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:47:25 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 02:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:47:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.588s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:47:27 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.715[m] 92.518[deg] [grasp_sample.py: 539] +05/12 02:47:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:47:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:47:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:47:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:47:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.934s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:47:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.601[m] 72.876[deg] [grasp_sample.py: 539] +05/12 02:47:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:47:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:47:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 02:47:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 02:47:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:47:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:47:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:47:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:47:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:48:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:48:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.669s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:48:00 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.612[m] 74.967[deg] [grasp_sample.py: 539] +05/12 02:48:02 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:48:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162544m [env.py: 870] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51190811 -0.74593414 -0.16254425] yaw=-67.3deg [env.py: 1019] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57035244 -0.91534861 -0.16254425] yaw=-53.7deg [env.py: 1019] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:48:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=325.5ms, total=325.6ms [env.py: 1075] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -0.746, -0.163) [env.py: 1079] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 02:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:48:03 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 02:48:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 02:48:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:48:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:48:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:48:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.667s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:48:05 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107258m [env.py: 870] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=265.5ms, total=265.5ms [env.py: 1105] +05/12 02:48:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:48:07 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:48:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130281m [env.py: 870] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.1ms, total=199.2ms [env.py: 1105] +05/12 02:48:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:48:08 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:48:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137509m [env.py: 870] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1105] +05/12 02:48:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:48:10 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:48:10 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:48:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191727m [env.py: 870] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27810469 -1.09888303 -0.191727 ] yaw=-49.9deg [env.py: 1019] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:48:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.7ms [env.py: 1075] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.099, -0.192) [env.py: 1079] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 02:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:48:12 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 02:48:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 02:48:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:48:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:48:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:48:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.669s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:48:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.710[m] 81.803[deg] [grasp_sample.py: 539] +05/12 02:48:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:48:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:48:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:48:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:48:31 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 02:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:48:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:48:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:48:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:48:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.438s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:48:37 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.120[m] 12.894[deg] [grasp_sample.py: 539] +05/12 02:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:48:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:48:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:48:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:48:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:48:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.87s (batch: 3.34s, save: 8.53s) [pipeline.py: 300] +05/12 02:48:43 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=1.96s: + episode_total: mean=51.40s, total=154.19s, count=3, min=4617.8ms, max=142840.0ms + sensor_polling: mean=347.9ms, total=92.55s, count=266, min=295.7ms, max=628.2ms + save_trajectories: mean=8.53s, total=8.53s, count=1, min=8533.3ms, max=8533.3ms + physics_step: mean=23.2ms, total=6.16s, count=266, min=16.9ms, max=76.5ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3338.2ms, max=3338.2ms + task_sampling: mean=653.6ms, total=1.96s, count=3, min=424.8ms, max=972.6ms + task_specific_sample: mean=651.0ms, total=1.95s, count=3, min=422.0ms, max=970.3ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.9ms, max=1.6ms + mj_forward_sync: mean=378.5us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106230m [env.py: 870] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.9ms, total=214.9ms [env.py: 1105] +05/12 02:48:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:48:45 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109052m [env.py: 870] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.5ms, total=215.6ms [env.py: 1105] +05/12 02:48:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:48:46 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170584m [env.py: 870] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42323658 -0.92403567 -0.17058433] yaw=-64.6deg [env.py: 1019] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.3ms [env.py: 1075] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -0.924, -0.171) [env.py: 1079] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 02:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:48 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:48:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:48:48 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 02:48:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 02:48:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:48:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:48:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:48:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.747[m] 90.708[deg] [grasp_sample.py: 539] +05/12 02:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:48:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:48:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:48:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:48:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:48:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:48:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:48:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.601s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:48:56 INFO: [Worker 0] Feasible grasp found 16 (originally 16): w/ 0.226[m] 26.331[deg] [grasp_sample.py: 539] +05/12 02:48:57 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:48:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:48:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:48:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:48:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:48:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:48:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:48:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:48:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:48:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:48:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:48:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112006m [env.py: 870] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:48:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:48:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.6ms [env.py: 1105] +05/12 02:48:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:48:58 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:49:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:49:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:49:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:49:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:49:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:49:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154807m [env.py: 870] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:49:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57515319 -0.72809331 -0.15480678] yaw=-73.2deg [env.py: 1019] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:49:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.7ms, total=212.7ms [env.py: 1075] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.728, -0.155) [env.py: 1079] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg [env.py: 1082] +05/12 02:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:49:00 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 02:49:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 02:49:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:49:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:49:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:49:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.332s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:49:02 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:49:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:49:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:49:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:49:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:49:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:49:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135698m [env.py: 870] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:49:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=260.2ms, total=260.2ms [env.py: 1105] +05/12 02:49:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:49:03 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:49:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:49:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:49:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:49:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:49:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:49:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149719m [env.py: 870] +05/12 02:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:49:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40271158 -1.01470889 -0.14971921] yaw=-41.2deg [env.py: 1019] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59245845 -0.98645205 -0.14971921] yaw=-61.7deg [env.py: 1019] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.2ms, total=230.3ms [env.py: 1075] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.015, -0.150) [env.py: 1079] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/12 02:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 02:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:49:05 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 02:49:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 02:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:49:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:49:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:49:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.489s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:49:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.724[m] 82.445[deg] [grasp_sample.py: 539] +05/12 02:49:07 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:49:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:49:07 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 02:49:08 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:49:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:49:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:49:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:49:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:49:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:49:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127360m [env.py: 870] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:49:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3752582 -0.80820847 -0.12735962] yaw=-59.1deg [env.py: 1019] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:49:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.1ms, total=207.2ms [env.py: 1075] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -0.808, -0.127) [env.py: 1079] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/12 02:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:49:09 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 02:49:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 02:49:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:49:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:49:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:49:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:49:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:49:11 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:49:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:49:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:49:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145621m [env.py: 870] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.2ms, total=191.2ms [env.py: 1105] +05/12 02:49:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:49:12 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:49:14 WARNING: [Worker 0] No trajectory data to save for chunk_007 [pipeline.py: 234] +05/12 02:49:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 02:49:14 INFO: [Worker 0] Preparing episode data: 165 timesteps [save_utils.py: 278] +05/12 02:49:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:49:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:49:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:49:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:49:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.10s (batch: 3.51s, save: 10.58s) [pipeline.py: 300] +05/12 02:49:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:49:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/debug/chunk_007 [save_utils.py: 785] +05/12 02:49:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 7.75s (batch: 2.58s, save: 5.17s) [pipeline.py: 300] +05/12 02:49:22 INFO: [Worker 0] Worker 0 completed house 1: 7/9 successful episodes [pipeline.py: 1323] +05/12 02:49:22 INFO: [Worker 0] [PROFILE] House 1 complete: 7/9 successful, 9 episodes, total_time=3340.86s + House averages: + episode_total: mean=27.48s, total=1978.55s, count=72, min=193.7ms, max=170765.0ms + sensor_polling: mean=349.6ms, total=1127.49s, count=3225, min=286.6ms, max=842.2ms + physics_step: mean=22.7ms, total=73.11s, count=3225, min=13.2ms, max=166.1ms + save_trajectories: mean=9.37s, total=65.58s, count=7, min=8515.1ms, max=10833.8ms + task_specific_sample: mean=397.4ms, total=28.61s, count=72, min=190.4ms, max=1099.0ms + task_sampling: mean=591.6ms, total=24.85s, count=42, min=332.4ms, max=5208.0ms + save_batch_prep: mean=3.49s, total=24.41s, count=7, min=2875.9ms, max=3777.9ms + task_sampling_failed: mean=270.4ms, total=8.11s, count=30, min=193.7ms, max=476.8ms + scene_load: mean=4.10s, total=4.10s, count=1, min=4104.9ms, max=4104.9ms + scene_env_create: mean=2.23s, total=2.23s, count=1, min=2230.3ms, max=2230.3ms + scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.1ms, max=1709.1ms + compile_mujoco: mean=940.6ms, total=940.6ms, count=1, min=940.6ms, max=940.6ms + compile_xml_load: mean=676.4ms, total=676.4ms, count=1, min=676.4ms, max=676.4ms + scene_init: mean=95.3ms, total=95.3ms, count=1, min=95.3ms, max=95.3ms + scene_randomize: mean=1.3ms, total=90.8ms, count=72, min=0.9ms, max=2.8ms + scene_asset_install: mean=69.9ms, total=69.9ms, count=1, min=69.9ms, max=69.9ms + compile_aux_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + compile_aux_policy_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + asset_install_grasps: mean=47.0ms, total=47.0ms, count=1, min=47.0ms, max=47.0ms + compile_robot_add: mean=33.2ms, total=33.2ms, count=1, min=33.2ms, max=33.2ms + mj_forward_sync: mean=449.3us, total=32.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=16.0ms, total=16.0ms, count=1, min=16.0ms, max=16.0ms + asset_install_scene: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + policy_setup: mean=13.4us, total=0.6ms, count=42, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 02:49:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 02:49:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3340.86s + Worker averages: + episode_total: mean=27.48s, total=1978.55s, count=72, min=193.7ms, max=170765.0ms + sensor_polling: mean=349.6ms, total=1127.49s, count=3225, min=286.6ms, max=842.2ms + physics_step: mean=22.7ms, total=73.11s, count=3225, min=13.2ms, max=166.1ms + save_trajectories: mean=9.37s, total=65.58s, count=7, min=8515.1ms, max=10833.8ms + task_specific_sample: mean=397.4ms, total=28.61s, count=72, min=190.4ms, max=1099.0ms + task_sampling: mean=591.6ms, total=24.85s, count=42, min=332.4ms, max=5208.0ms + save_batch_prep: mean=3.49s, total=24.41s, count=7, min=2875.9ms, max=3777.9ms + task_sampling_failed: mean=270.4ms, total=8.11s, count=30, min=193.7ms, max=476.8ms + scene_load: mean=4.10s, total=4.10s, count=1, min=4104.9ms, max=4104.9ms + scene_env_create: mean=2.23s, total=2.23s, count=1, min=2230.3ms, max=2230.3ms + scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.1ms, max=1709.1ms + compile_mujoco: mean=940.6ms, total=940.6ms, count=1, min=940.6ms, max=940.6ms + compile_xml_load: mean=676.4ms, total=676.4ms, count=1, min=676.4ms, max=676.4ms + scene_init: mean=95.3ms, total=95.3ms, count=1, min=95.3ms, max=95.3ms + scene_randomize: mean=1.3ms, total=90.8ms, count=72, min=0.9ms, max=2.8ms + scene_asset_install: mean=69.9ms, total=69.9ms, count=1, min=69.9ms, max=69.9ms + compile_aux_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + compile_aux_policy_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + asset_install_grasps: mean=47.0ms, total=47.0ms, count=1, min=47.0ms, max=47.0ms + compile_robot_add: mean=33.2ms, total=33.2ms, count=1, min=33.2ms, max=33.2ms + mj_forward_sync: mean=449.3us, total=32.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=16.0ms, total=16.0ms, count=1, min=16.0ms, max=16.0ms + asset_install_scene: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + policy_setup: mean=13.4us, total=0.6ms, count=42, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 02:49:22 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=3.51s: + episode_total: mean=19.26s, total=173.31s, count=9, min=204.7ms, max=140864.2ms + sensor_polling: mean=364.9ms, total=95.61s, count=262, min=301.0ms, max=600.4ms + save_trajectories: mean=10.58s, total=10.58s, count=1, min=10582.5ms, max=10582.5ms + physics_step: mean=24.0ms, total=6.28s, count=262, min=15.8ms, max=70.1ms + task_specific_sample: mean=435.4ms, total=3.92s, count=9, min=201.3ms, max=899.1ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3513.1ms, max=3513.1ms + task_sampling: mean=501.9ms, total=3.51s, count=7, min=322.0ms, max=901.9ms + task_sampling_failed: mean=215.4ms, total=430.8ms, count=2, min=204.7ms, max=226.1ms + scene_randomize: mean=1.1ms, total=9.8ms, count=9, min=0.9ms, max=1.5ms + mj_forward_sync: mean=413.4us, total=3.7ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=11.5us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:49:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:49:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:49:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:49:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:49:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:49:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:49:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112187m [env.py: 870] +05/12 02:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:49:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53963356 -0.82994974 -0.11218723] yaw=-76.0deg [env.py: 1019] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:49:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.3ms, total=264.3ms [env.py: 1075] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.830, -0.112) [env.py: 1079] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.0 deg [env.py: 1082] +05/12 02:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 02:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:49:24 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 02:49:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 02:49:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:49:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:49:24 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 02:49:24 INFO: Success count: 7, Total count: 9 [pipeline.py: 1491] +05/12 02:49:24 INFO: Success rate: 77.78% [pipeline.py: 1492] +05/12 02:49:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:49:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.858s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:49:44 INFO: [Worker 0] Feasible grasp found 948 (originally 284): w/ 0.789[m] 88.261[deg] [grasp_sample.py: 539] +05/12 02:49:45 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:49:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:49:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:49:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:49:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:49:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:49:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133409m [env.py: 870] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:49:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49733513 -0.8797452 -0.13340939] yaw=-52.2deg [env.py: 1019] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:49:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.8ms, total=172.8ms [env.py: 1075] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.880, -0.133) [env.py: 1079] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 02:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:49:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:49:47 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 02:49:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 02:49:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:49:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:49:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:49:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.592s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:49:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.764[m] 95.326[deg] [grasp_sample.py: 539] +05/12 02:49:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:49:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:49:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:49:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:49:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:49:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:50:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:50:03 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:50:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:50:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 02:50:23 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 02:50:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:50:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:50:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.17s (batch: 3.31s, save: 8.86s) [pipeline.py: 300] +05/12 02:50:35 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=2.78s: + episode_total: mean=21.27s, total=212.68s, count=10, min=206.6ms, max=144277.6ms + sensor_polling: mean=370.4ms, total=122.62s, count=331, min=319.8ms, max=649.4ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8862.9ms, max=8862.9ms + physics_step: mean=22.0ms, total=7.30s, count=331, min=13.6ms, max=74.6ms + task_specific_sample: mean=366.8ms, total=3.67s, count=10, min=203.9ms, max=546.2ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3307.8ms, max=3307.8ms + task_sampling: mean=463.9ms, total=2.78s, count=6, min=428.3ms, max=548.5ms + task_sampling_failed: mean=228.4ms, total=913.7ms, count=4, min=206.6ms, max=277.0ms + scene_randomize: mean=1.2ms, total=11.7ms, count=10, min=0.9ms, max=2.5ms + mj_forward_sync: mean=415.5us, total=4.2ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=14.1us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:50:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:50:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:50:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:50:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:50:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:50:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:50:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105537m [env.py: 870] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:50:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20622944 -1.12123401 -0.10553739] yaw=-34.2deg [env.py: 1019] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:50:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.8ms [env.py: 1075] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.121, -0.106) [env.py: 1079] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.2 deg [env.py: 1082] +05/12 02:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:50:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:50:37 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 02:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 02:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:50:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:50:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:50:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:50:43 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:50:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.839s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:50:48 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.770[m] 87.389[deg] [grasp_sample.py: 539] +05/12 02:50:49 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:50:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:50:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:50:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:50:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:50:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:50:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:50:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:50:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:50:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172460m [env.py: 870] +05/12 02:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:50:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24872505 -0.92484364 -0.17245999] yaw=-48.5deg [env.py: 1019] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56593644 -0.96900254 -0.17245999] yaw=-54.5deg [env.py: 1019] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:50:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=255.7ms, total=255.7ms [env.py: 1075] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -0.925, -0.172) [env.py: 1079] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/12 02:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:50:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:50:51 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 02:50:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 02:50:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:50:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:50:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:50:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:50:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.784s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:50:53 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:50:54 WARNING: [Worker 0] No trajectory data to save for chunk_007 [pipeline.py: 234] +05/12 02:50:54 WARNING: [Worker 0] No trajectory data to save for chunk_007 [pipeline.py: 234] +05/12 02:50:54 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes [pipeline.py: 1323] +05/12 02:50:54 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=3583.94s + House averages: + episode_total: mean=28.86s, total=2078.14s, count=72, min=179.8ms, max=178403.2ms + sensor_polling: mean=384.7ms, total=1228.07s, count=3192, min=305.8ms, max=856.6ms + save_trajectories: mean=9.57s, total=95.70s, count=10, min=8719.8ms, max=10898.2ms + physics_step: mean=23.1ms, total=73.66s, count=3192, min=13.6ms, max=104.6ms + save_batch_prep: mean=3.59s, total=35.92s, count=10, min=3259.6ms, max=4084.9ms + task_specific_sample: mean=411.8ms, total=29.65s, count=72, min=176.8ms, max=836.4ms + task_sampling: mean=566.4ms, total=28.32s, count=50, min=311.7ms, max=4284.1ms + task_sampling_failed: mean=242.0ms, total=5.32s, count=22, min=179.8ms, max=387.2ms + scene_load: mean=3.79s, total=3.79s, count=1, min=3790.3ms, max=3790.3ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2277.4ms, max=2277.4ms + scene_compile: mean=1.37s, total=1.37s, count=1, min=1373.4ms, max=1373.4ms + compile_mujoco: mean=893.7ms, total=893.7ms, count=1, min=893.7ms, max=893.7ms + compile_xml_load: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms + scene_init: mean=95.1ms, total=95.1ms, count=1, min=95.1ms, max=95.1ms + scene_randomize: mean=1.3ms, total=91.6ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + compile_aux_policy_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + mj_forward_sync: mean=434.9us, total=31.3ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=15.6us, total=0.8ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 02:50:54 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 02:50:54 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3583.94s + Worker averages: + episode_total: mean=28.86s, total=2078.14s, count=72, min=179.8ms, max=178403.2ms + sensor_polling: mean=384.7ms, total=1228.07s, count=3192, min=305.8ms, max=856.6ms + save_trajectories: mean=9.57s, total=95.70s, count=10, min=8719.8ms, max=10898.2ms + physics_step: mean=23.1ms, total=73.66s, count=3192, min=13.6ms, max=104.6ms + save_batch_prep: mean=3.59s, total=35.92s, count=10, min=3259.6ms, max=4084.9ms + task_specific_sample: mean=411.8ms, total=29.65s, count=72, min=176.8ms, max=836.4ms + task_sampling: mean=566.4ms, total=28.32s, count=50, min=311.7ms, max=4284.1ms + task_sampling_failed: mean=242.0ms, total=5.32s, count=22, min=179.8ms, max=387.2ms + scene_load: mean=3.79s, total=3.79s, count=1, min=3790.3ms, max=3790.3ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2277.4ms, max=2277.4ms + scene_compile: mean=1.37s, total=1.37s, count=1, min=1373.4ms, max=1373.4ms + compile_mujoco: mean=893.7ms, total=893.7ms, count=1, min=893.7ms, max=893.7ms + compile_xml_load: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms + scene_init: mean=95.1ms, total=95.1ms, count=1, min=95.1ms, max=95.1ms + scene_randomize: mean=1.3ms, total=91.6ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + compile_aux_policy_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + mj_forward_sync: mean=434.9us, total=31.3ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=15.6us, total=0.8ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 02:50:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:50:57 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 02:50:57 INFO: Success count: 10, Total count: 10 [pipeline.py: 1491] +05/12 02:50:57 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 02:51:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:51:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:51:03 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 02:51:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:51:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:51:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.47s (batch: 3.49s, save: 8.98s) [pipeline.py: 300] +05/12 02:51:16 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.48s: + episode_total: mean=49.58s, total=148.73s, count=3, min=223.5ms, max=148281.6ms + sensor_polling: mean=343.1ms, total=97.44s, count=284, min=294.1ms, max=584.9ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.2ms, max=8981.2ms + physics_step: mean=23.6ms, total=6.70s, count=284, min=14.9ms, max=127.0ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3491.9ms, max=3491.9ms + task_specific_sample: mean=304.7ms, total=914.0ms, count=3, min=220.3ms, max=473.0ms + task_sampling: mean=475.1ms, total=475.1ms, count=1, min=475.1ms, max=475.1ms + task_sampling_failed: mean=224.4ms, total=448.9ms, count=2, min=223.5ms, max=225.4ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=0.9ms, max=2.6ms + mj_forward_sync: mean=389.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:51:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:51:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:51:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:51:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:51:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:51:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:51:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189266m [env.py: 870] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:51:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4019675 -0.80945739 -0.18926586] yaw=-56.6deg [env.py: 1019] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.1ms [env.py: 1075] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -0.809, -0.189) [env.py: 1079] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/12 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:51:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:51:18 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 02:51:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 02:51:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:51:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:51:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:51:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.511s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:51:19 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:51:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:51:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:51:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:51:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138464m [env.py: 870] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26035723 -1.13658538 -0.13846422] yaw=-50.6deg [env.py: 1019] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=613.0ms, total=613.0ms [env.py: 1075] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.137, -0.138) [env.py: 1079] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 02:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:51:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:51:21 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 02:51:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:51:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:51:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:51:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.186s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:51:27 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.747[m] 74.376[deg] [grasp_sample.py: 539] +05/12 02:51:28 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:51:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:51:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:51:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:51:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:51:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:51:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:51:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142956m [env.py: 870] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:51:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32238541 -1.19385275 -0.1429562 ] yaw=-42.6deg [env.py: 1019] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:51:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=163.5ms, total=163.6ms [env.py: 1075] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.194, -0.143) [env.py: 1079] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.6 deg [env.py: 1082] +05/12 02:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:51:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:51:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:51:29 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 02:51:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 02:51:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:51:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:51:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:51:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.035s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:51:32 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.651[m] 80.572[deg] [grasp_sample.py: 539] +05/12 02:51:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:51:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:51:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:51:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:51:34 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:51:54 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:51:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:51:54 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 02:52:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:52:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:52:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.03s (batch: 3.44s, save: 9.59s) [pipeline.py: 300] +05/12 02:52:07 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.91s: + episode_total: mean=81.40s, total=162.80s, count=2, min=21617.3ms, max=141179.2ms + sensor_polling: mean=322.2ms, total=94.40s, count=293, min=295.4ms, max=570.9ms + save_trajectories: mean=9.59s, total=9.59s, count=1, min=9587.4ms, max=9587.4ms + physics_step: mean=21.3ms, total=6.24s, count=293, min=14.8ms, max=35.2ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3440.0ms, max=3440.0ms + task_sampling: mean=456.6ms, total=913.2ms, count=2, min=395.8ms, max=517.4ms + task_specific_sample: mean=453.5ms, total=907.0ms, count=2, min=393.0ms, max=514.0ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.0ms, max=2.2ms + mj_forward_sync: mean=399.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:52:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:52:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:52:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:52:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:52:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:52:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:52:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168919m [env.py: 870] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:52:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35869401 -0.97965787 -0.16891922] yaw=-57.1deg [env.py: 1019] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:52:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.4ms, total=174.4ms [env.py: 1075] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.980, -0.169) [env.py: 1079] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg [env.py: 1082] +05/12 02:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:52:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:52:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:52:09 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 02:52:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 02:52:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:52:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:52:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:52:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.632s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:52:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.745[m] 92.525[deg] [grasp_sample.py: 539] +05/12 02:52:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:52:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:52:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:52:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:52:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:52:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:52:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:53:05 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:53:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:53:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:53:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:53:23 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:53:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 02:53:23 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 02:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:53:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:53:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.42s (batch: 2.91s, save: 8.51s) [pipeline.py: 300] +05/12 02:53:35 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=1.56s: + episode_total: mean=44.98s, total=134.95s, count=3, min=2090.1ms, max=125655.8ms + sensor_polling: mean=323.6ms, total=85.76s, count=265, min=300.3ms, max=463.6ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8507.6ms, max=8507.6ms + physics_step: mean=21.1ms, total=5.59s, count=265, min=14.7ms, max=31.1ms + save_batch_prep: mean=2.91s, total=2.91s, count=1, min=2913.1ms, max=2913.1ms + task_sampling: mean=519.3ms, total=1.56s, count=3, min=330.9ms, max=829.0ms + task_specific_sample: mean=516.5ms, total=1.55s, count=3, min=328.7ms, max=826.4ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.9ms, max=2.5ms + mj_forward_sync: mean=363.5us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:53:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:53:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:53:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:53:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:53:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:53:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:53:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154077m [env.py: 870] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:53:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44013095 -0.95156649 -0.154077 ] yaw=-49.5deg [env.py: 1019] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:53:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=213.9ms [env.py: 1075] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.952, -0.154) [env.py: 1079] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 02:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:53:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:53:36 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 02:53:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 02:53:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:53:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:53:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:53:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.910s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:53:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.711[m] 83.199[deg] [grasp_sample.py: 539] +05/12 02:53:40 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:53:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:53:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:53:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:53:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:53:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:53:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:53:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191553m [env.py: 870] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:53:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62724933 -0.8721974 -0.19155268] yaw=-58.6deg [env.py: 1019] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1075] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.627, -0.872, -0.192) [env.py: 1079] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/12 02:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:53:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:53:41 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 02:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 02:53:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:53:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:53:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:53:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.370s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:53:53 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.716[m] 90.235[deg] [grasp_sample.py: 539] +05/12 02:53:54 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:53:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:53:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:53:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:53:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:53:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190585m [env.py: 870] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:53:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23240354 -1.12420865 -0.19058507] yaw=-49.5deg [env.py: 1019] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.49977177 -0.74006687 -0.19058507] yaw=-60.9deg [env.py: 1019] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:53:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=835.5ms, total=835.5ms [env.py: 1075] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.124, -0.191) [env.py: 1079] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 02:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/12 02:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:53:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:53:56 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 02:53:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 02:53:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:53:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:53:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:53:57 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:53:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.991s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:53:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.697[m] 83.596[deg] [grasp_sample.py: 539] +05/12 02:53:59 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:54:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:54:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:54:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:54:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:54:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:54:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:54:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113706m [env.py: 870] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:54:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55080262 -0.93000216 -0.11370557] yaw=-66.2deg [env.py: 1019] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:54:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.5ms, total=204.5ms [env.py: 1075] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -0.930, -0.114) [env.py: 1079] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 02:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:54:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:54:01 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 02:54:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 02:54:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:54:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:54:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:54:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.619s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:54:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.698[m] 97.664[deg] [grasp_sample.py: 539] +05/12 02:54:05 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:54:06 WARNING: [Worker 0] No trajectory data to save for chunk_007 [pipeline.py: 234] +05/12 02:54:06 WARNING: [Worker 0] No trajectory data to save for chunk_007 [pipeline.py: 234] +05/12 02:54:06 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/12 02:54:06 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=3902.99s + House averages: + episode_total: mean=31.54s, total=2271.13s, count=72, min=176.5ms, max=193341.8ms + sensor_polling: mean=343.6ms, total=1319.19s, count=3839, min=288.4ms, max=870.0ms + save_trajectories: mean=9.37s, total=112.49s, count=12, min=8484.3ms, max=10786.8ms + physics_step: mean=22.4ms, total=86.02s, count=3839, min=12.9ms, max=127.0ms + save_batch_prep: mean=3.31s, total=39.66s, count=12, min=2913.1ms, max=3877.3ms + task_specific_sample: mean=423.0ms, total=30.46s, count=72, min=172.4ms, max=1072.5ms + task_sampling: mean=610.7ms, total=28.70s, count=47, min=330.9ms, max=4919.5ms + task_sampling_failed: mean=234.5ms, total=5.86s, count=25, min=176.5ms, max=483.6ms + scene_load: mean=3.89s, total=3.89s, count=1, min=3890.9ms, max=3890.9ms + scene_env_create: mean=2.25s, total=2.25s, count=1, min=2253.7ms, max=2253.7ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1483.4ms, max=1483.4ms + compile_mujoco: mean=908.9ms, total=908.9ms, count=1, min=908.9ms, max=908.9ms + compile_xml_load: mean=482.4ms, total=482.4ms, count=1, min=482.4ms, max=482.4ms + scene_init: mean=98.5ms, total=98.5ms, count=1, min=98.5ms, max=98.5ms + scene_randomize: mean=1.3ms, total=91.9ms, count=72, min=0.9ms, max=2.9ms + scene_asset_install: mean=55.1ms, total=55.1ms, count=1, min=55.1ms, max=55.1ms + compile_aux_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + compile_aux_policy_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + mj_forward_sync: mean=420.8us, total=30.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + policy_setup: mean=15.1us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 02:54:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 02:54:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=3902.99s + Worker averages: + episode_total: mean=31.54s, total=2271.13s, count=72, min=176.5ms, max=193341.8ms + sensor_polling: mean=343.6ms, total=1319.19s, count=3839, min=288.4ms, max=870.0ms + save_trajectories: mean=9.37s, total=112.49s, count=12, min=8484.3ms, max=10786.8ms + physics_step: mean=22.4ms, total=86.02s, count=3839, min=12.9ms, max=127.0ms + save_batch_prep: mean=3.31s, total=39.66s, count=12, min=2913.1ms, max=3877.3ms + task_specific_sample: mean=423.0ms, total=30.46s, count=72, min=172.4ms, max=1072.5ms + task_sampling: mean=610.7ms, total=28.70s, count=47, min=330.9ms, max=4919.5ms + task_sampling_failed: mean=234.5ms, total=5.86s, count=25, min=176.5ms, max=483.6ms + scene_load: mean=3.89s, total=3.89s, count=1, min=3890.9ms, max=3890.9ms + scene_env_create: mean=2.25s, total=2.25s, count=1, min=2253.7ms, max=2253.7ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1483.4ms, max=1483.4ms + compile_mujoco: mean=908.9ms, total=908.9ms, count=1, min=908.9ms, max=908.9ms + compile_xml_load: mean=482.4ms, total=482.4ms, count=1, min=482.4ms, max=482.4ms + scene_init: mean=98.5ms, total=98.5ms, count=1, min=98.5ms, max=98.5ms + scene_randomize: mean=1.3ms, total=91.9ms, count=72, min=0.9ms, max=2.9ms + scene_asset_install: mean=55.1ms, total=55.1ms, count=1, min=55.1ms, max=55.1ms + compile_aux_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + compile_aux_policy_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + mj_forward_sync: mean=420.8us, total=30.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + asset_install_scene: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + policy_setup: mean=15.1us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 02:54:09 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 02:54:09 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/12 02:54:09 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/12 02:54:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:54:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:54:17 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 02:54:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:54:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:54:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.70s (batch: 2.95s, save: 8.75s) [pipeline.py: 300] +05/12 02:54:29 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.39s: + episode_total: mean=140.33s, total=140.33s, count=1, min=140326.6ms, max=140326.6ms + sensor_polling: mean=324.4ms, total=92.78s, count=286, min=302.3ms, max=588.9ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8752.0ms, max=8752.0ms + physics_step: mean=21.3ms, total=6.11s, count=286, min=14.9ms, max=61.6ms + save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2946.6ms, max=2946.6ms + task_sampling: mean=390.2ms, total=390.2ms, count=1, min=390.2ms, max=390.2ms + task_specific_sample: mean=386.8ms, total=386.8ms, count=1, min=386.8ms, max=386.8ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=368.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:54:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:54:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:54:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:54:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:54:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:54:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:54:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195020m [env.py: 870] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:54:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5628941 -0.85420612 -0.19501953] yaw=-64.6deg [env.py: 1019] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34736518 -1.14481179 -0.19501953] yaw=-50.5deg [env.py: 1019] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:54:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=173.6ms, total=173.7ms [env.py: 1075] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.854, -0.195) [env.py: 1079] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 02:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:54:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:54:31 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 02:54:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 02:54:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:54:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:54:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:54:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:54:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 89.295[deg] [grasp_sample.py: 539] +05/12 02:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:54:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:54:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:54:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:55:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 02:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 02:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 02:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 02:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 02:55:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:55:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:55:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:55:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 477 non-colliding grasps [grasp_sample.py: 465] +05/12 02:55:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.031s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:55:37 INFO: [Worker 0] Feasible grasp found 238 (originally 238): w/ 0.105[m] 11.905[deg] [grasp_sample.py: 539] +05/12 02:55:38 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 02:55:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:55:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:55:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:55:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:55:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:55:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:55:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155456m [env.py: 870] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:55:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10516218 -1.0362319 -0.15545583] yaw=-29.0deg [env.py: 1019] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19533725 -1.0544119 -0.15545583] yaw=-50.0deg [env.py: 1019] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:55:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.3ms, total=160.3ms [env.py: 1075] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.105, -1.036, -0.155) [env.py: 1079] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.0 deg [env.py: 1082] +05/12 02:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:55:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:55:39 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 02:55:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 02:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:55:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:55:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:55:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.086s, found feasible grasp: False [grasp_sample.py: 500] +05/12 02:55:42 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 02:55:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:55:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:55:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:55:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:55:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:55:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:55:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121372m [env.py: 870] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:55:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=157.8ms, total=157.9ms [env.py: 1105] +05/12 02:55:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 02:55:43 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 02:55:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:55:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:55:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:55:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:55:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:55:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:55:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184005m [env.py: 870] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:55:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57775604 -0.8204749 -0.18400532] yaw=-57.5deg [env.py: 1019] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.446281 -0.78379473 -0.18400532] yaw=-59.7deg [env.py: 1019] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:55:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.5ms, total=164.5ms [env.py: 1075] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.820, -0.184) [env.py: 1079] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/12 02:55:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:55:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:55:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:55:44 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 02:55:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 02:55:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:55:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:55:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:55:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.620s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:55:51 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.757[m] 90.693[deg] [grasp_sample.py: 539] +05/12 02:55:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:55:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:55:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:55:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:56:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 02:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 02:56:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 02:56:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:56:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:56:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:56:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.638s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:56:48 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.053[m] 24.223[deg] [grasp_sample.py: 539] +05/12 02:56:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:56:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:56:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:56:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:56:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:57:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:57:39 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 02:58:01 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 02:58:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 02:58:01 INFO: [Worker 0] Preparing episode data: 299 timesteps [save_utils.py: 278] +05/12 02:58:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 02:58:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 02:58:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.57s (batch: 3.26s, save: 9.31s) [pipeline.py: 300] +05/12 02:58:14 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=1.09s: + episode_total: mean=55.01s, total=220.04s, count=4, min=166.7ms, max=149568.9ms + sensor_polling: mean=307.7ms, total=136.92s, count=445, min=289.7ms, max=459.7ms + save_trajectories: mean=9.31s, total=9.31s, count=1, min=9305.9ms, max=9305.9ms + physics_step: mean=20.5ms, total=9.12s, count=445, min=14.5ms, max=24.4ms + save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3263.6ms, max=3263.6ms + task_specific_sample: mean=311.8ms, total=1.25s, count=4, min=162.4ms, max=385.2ms + task_sampling: mean=364.3ms, total=1.09s, count=3, min=349.7ms, max=388.5ms + task_sampling_failed: mean=166.7ms, total=166.7ms, count=1, min=166.7ms, max=166.7ms + scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=1.0ms, max=2.2ms + mj_forward_sync: mean=409.3us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=11.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 02:58:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 02:58:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 02:58:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:58:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 02:58:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 02:58:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 02:58:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133021m [env.py: 870] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 02:58:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37936072 -1.10274956 -0.13302147] yaw=-56.6deg [env.py: 1019] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31656806 -1.22250446 -0.13302147] yaw=-34.1deg [env.py: 1019] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 02:58:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=213.7ms, total=213.7ms [env.py: 1075] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -1.103, -0.133) [env.py: 1079] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/12 02:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 02:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 02:58:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 02:58:15 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 02:58:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 02:58:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 02:58:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 02:58:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 02:58:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.123s, found feasible grasp: True [grasp_sample.py: 500] +05/12 02:58:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.631[m] 91.502[deg] [grasp_sample.py: 539] +05/12 02:58:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 02:58:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 02:58:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:58:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 02:59:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 02:59:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 02:59:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 02:59:50 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:00:08 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_007 [pipeline.py: 1174] +05/12 03:00:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:00:08 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 03:00:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:00:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_007 [save_utils.py: 785] +05/12 03:00:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.28s (batch: 3.17s, save: 8.12s) [pipeline.py: 300] +05/12 03:00:20 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.46s: + episode_total: mean=125.23s, total=125.23s, count=1, min=125235.0ms, max=125235.0ms + sensor_polling: mean=311.8ms, total=82.30s, count=264, min=295.9ms, max=485.7ms + save_trajectories: mean=8.12s, total=8.12s, count=1, min=8117.5ms, max=8117.5ms + physics_step: mean=21.0ms, total=5.53s, count=264, min=14.9ms, max=26.5ms + save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3167.1ms, max=3167.1ms + task_sampling: mean=458.3ms, total=458.3ms, count=1, min=458.3ms, max=458.3ms + task_specific_sample: mean=455.4ms, total=455.4ms, count=1, min=455.4ms, max=455.4ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=405.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:00:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:00:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:00:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:00:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:00:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:00:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196319m [env.py: 870] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:00:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48959277 -0.89272143 -0.19631865] yaw=-54.1deg [env.py: 1019] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51782634 -0.80782497 -0.19631865] yaw=-54.9deg [env.py: 1019] +05/12 03:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:00:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms [env.py: 1075] +05/12 03:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.893, -0.196) [env.py: 1079] +05/12 03:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 03:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 03:00:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:00:22 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 03:00:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 03:00:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:00:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:00:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:00:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:00:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.690[m] 76.646[deg] [grasp_sample.py: 539] +05/12 03:00:26 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:00:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:00:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:00:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:00:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:00:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:00:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105465m [env.py: 870] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:00:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24256501 -0.97669806 -0.10546534] yaw=-41.3deg [env.py: 1019] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2407932 -1.00396609 -0.10546534] yaw=-55.8deg [env.py: 1019] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:00:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.9ms [env.py: 1075] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -0.977, -0.105) [env.py: 1079] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.3 deg [env.py: 1082] +05/12 03:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:00:27 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 03:00:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 03:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:00:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:00:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:00:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.126s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:00:29 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:00:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:00:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:00:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:00:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:00:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:00:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199039m [env.py: 870] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:00:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.9ms, total=190.0ms [env.py: 1105] +05/12 03:00:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:00:31 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:00:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:00:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:00:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146110m [env.py: 870] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29584478 -0.85242878 -0.14611035] yaw=-43.5deg [env.py: 1019] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24955205 -0.9791977 -0.14611035] yaw=-54.3deg [env.py: 1019] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:00:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.0ms, total=187.1ms [env.py: 1075] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -0.852, -0.146) [env.py: 1079] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/12 03:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:00:32 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 03:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:00:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:00:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:00:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:00:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.059s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:00:35 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:00:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:00:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183544m [env.py: 870] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59999581 -0.95710411 -0.18354369] yaw=-74.1deg [env.py: 1019] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.1ms, total=186.1ms [env.py: 1075] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.957, -0.184) [env.py: 1079] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.1 deg [env.py: 1082] +05/12 03:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:00:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:00:36 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 03:00:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 03:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:00:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:00:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:00:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.106s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:00:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.650[m] 93.336[deg] [grasp_sample.py: 539] +05/12 03:00:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:00:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:00:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:00:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:00:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:01:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:01:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:01:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:01:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.136s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:01:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.483[m] 64.199[deg] [grasp_sample.py: 539] +05/12 03:01:06 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:01:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:01:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:01:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:01:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:01:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:01:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:01:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:01:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:01:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110059m [env.py: 870] +05/12 03:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:01:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39534033 -0.95188011 -0.11005856] yaw=-50.8deg [env.py: 1019] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58512582 -0.84385747 -0.11005856] yaw=-66.3deg [env.py: 1019] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29226179 -0.92756745 -0.11005856] yaw=-44.3deg [env.py: 1019] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:01:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=296.6ms, total=296.7ms [env.py: 1075] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -0.952, -0.110) [env.py: 1079] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 03:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 03:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:01:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:01:08 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 03:01:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 03:01:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:01:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:01:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:01:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.299s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:01:11 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.789[m] 89.704[deg] [grasp_sample.py: 539] +05/12 03:01:12 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:01:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:01:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:01:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:01:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:01:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:01:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:01:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115106m [env.py: 870] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:01:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.68548319 -0.96570946 -0.11510605] yaw=-79.8deg [env.py: 1019] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51531342 -1.05351942 -0.11510605] yaw=-53.6deg [env.py: 1019] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:01:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.5ms [env.py: 1075] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.685, -0.966, -0.115) [env.py: 1079] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.8 deg [env.py: 1082] +05/12 03:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:01:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:01:14 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 03:01:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 03:01:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:01:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:01:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:01:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:01:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.631[m] 91.146[deg] [grasp_sample.py: 539] +05/12 03:01:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:01:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:01:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:01:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:01:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:01:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:01:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:01:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:01:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:01:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.307s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:01:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 66.827[deg] [grasp_sample.py: 539] +05/12 03:01:41 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:01:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:01:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:01:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:01:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:01:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:01:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:01:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169785m [env.py: 870] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:01:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59903828 -0.73406176 -0.16978507] yaw=-65.0deg [env.py: 1019] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:01:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.5ms, total=196.5ms [env.py: 1075] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.734, -0.170) [env.py: 1079] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 03:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:01:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:01:43 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 03:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 03:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:01:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:01:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:01:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.134s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:01:45 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:01:46 WARNING: [Worker 0] No trajectory data to save for chunk_007 [pipeline.py: 234] +05/12 03:01:46 WARNING: [Worker 0] No trajectory data to save for chunk_007 [pipeline.py: 234] +05/12 03:01:46 INFO: [Worker 0] Worker 0 completed house 1: 15/17 successful episodes [pipeline.py: 1323] +05/12 03:01:46 INFO: [Worker 0] [PROFILE] House 1 complete: 15/17 successful, 17 episodes, total_time=4754.61s + House averages: + episode_total: mean=37.99s, total=2735.63s, count=72, min=166.7ms, max=161767.9ms + sensor_polling: mean=339.8ms, total=1652.01s, count=4862, min=289.7ms, max=666.8ms + save_trajectories: mean=9.36s, total=140.40s, count=15, min=8117.5ms, max=11286.9ms + physics_step: mean=22.3ms, total=108.30s, count=4862, min=13.0ms, max=82.7ms + save_batch_prep: mean=3.34s, total=50.13s, count=15, min=2946.6ms, max=3747.6ms + task_specific_sample: mean=375.6ms, total=27.05s, count=72, min=162.4ms, max=899.1ms + task_sampling: mean=448.9ms, total=21.55s, count=48, min=322.0ms, max=901.9ms + task_sampling_failed: mean=405.4ms, total=9.73s, count=24, min=166.7ms, max=4274.2ms + scene_load: mean=4.01s, total=4.01s, count=1, min=4008.5ms, max=4008.5ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2284.6ms, max=2284.6ms + scene_compile: mean=1.57s, total=1.57s, count=1, min=1569.3ms, max=1569.3ms + compile_mujoco: mean=882.8ms, total=882.8ms, count=1, min=882.8ms, max=882.8ms + compile_xml_load: mean=592.9ms, total=592.9ms, count=1, min=592.9ms, max=592.9ms + scene_init: mean=94.0ms, total=94.0ms, count=1, min=94.0ms, max=94.0ms + scene_randomize: mean=1.3ms, total=92.7ms, count=72, min=0.9ms, max=3.1ms + scene_asset_install: mean=60.3ms, total=60.3ms, count=1, min=60.3ms, max=60.3ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + mj_forward_sync: mean=411.1us, total=29.6ms, count=72, min=0.3ms, max=0.6ms + asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=13.5us, total=0.6ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 03:01:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 03:01:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=4754.61s + Worker averages: + episode_total: mean=37.99s, total=2735.63s, count=72, min=166.7ms, max=161767.9ms + sensor_polling: mean=339.8ms, total=1652.01s, count=4862, min=289.7ms, max=666.8ms + save_trajectories: mean=9.36s, total=140.40s, count=15, min=8117.5ms, max=11286.9ms + physics_step: mean=22.3ms, total=108.30s, count=4862, min=13.0ms, max=82.7ms + save_batch_prep: mean=3.34s, total=50.13s, count=15, min=2946.6ms, max=3747.6ms + task_specific_sample: mean=375.6ms, total=27.05s, count=72, min=162.4ms, max=899.1ms + task_sampling: mean=448.9ms, total=21.55s, count=48, min=322.0ms, max=901.9ms + task_sampling_failed: mean=405.4ms, total=9.73s, count=24, min=166.7ms, max=4274.2ms + scene_load: mean=4.01s, total=4.01s, count=1, min=4008.5ms, max=4008.5ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2284.6ms, max=2284.6ms + scene_compile: mean=1.57s, total=1.57s, count=1, min=1569.3ms, max=1569.3ms + compile_mujoco: mean=882.8ms, total=882.8ms, count=1, min=882.8ms, max=882.8ms + compile_xml_load: mean=592.9ms, total=592.9ms, count=1, min=592.9ms, max=592.9ms + scene_init: mean=94.0ms, total=94.0ms, count=1, min=94.0ms, max=94.0ms + scene_randomize: mean=1.3ms, total=92.7ms, count=72, min=0.9ms, max=3.1ms + scene_asset_install: mean=60.3ms, total=60.3ms, count=1, min=60.3ms, max=60.3ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms + compile_robot_add: mean=33.0ms, total=33.0ms, count=1, min=33.0ms, max=33.0ms + mj_forward_sync: mean=411.1us, total=29.6ms, count=72, min=0.3ms, max=0.6ms + asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=13.5us, total=0.6ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 03:01:48 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 03:01:48 INFO: Success count: 15, Total count: 17 [pipeline.py: 1491] +05/12 03:01:48 INFO: Success rate: 88.24% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030314.pkl b/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030314.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a1ad4893a2edb743994dd6023d7bae5d32339b80 --- /dev/null +++ b/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030314.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce99804d83ddfbc2c39fb3a4ceb0c612c0e625cabf125134e68cc70c39563e02 +size 8146 diff --git a/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030316.pkl b/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030316.pkl new file mode 100644 index 0000000000000000000000000000000000000000..d4b62c85345caa6675bd01ba35908e0737f96194 --- /dev/null +++ b/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030316.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a007c8c21cc5f5ebdc615db31087692ab87c2302326bbaa83bbf05740aa7bf7 +size 8146 diff --git a/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030317.pkl b/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030317.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f2e9b99010dc726a839883d07642c3aae44aa618 --- /dev/null +++ b/3drawers/sim_chunks/chunk_008/experiment_config_20260512_030317.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8a792f2f85510e0303e7a60355154128c3844d7ec7e3ab4cb7bf8539442367a +size 8146 diff --git a/3drawers/sim_chunks/chunk_008/running_log.log b/3drawers/sim_chunks/chunk_008/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..fa5c22880cf8f68d3bab4c5bcb1d48ca0eb9f045 --- /dev/null +++ b/3drawers/sim_chunks/chunk_008/running_log.log @@ -0,0 +1,15282 @@ +05/12 03:03:14 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 03:03:14 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 03:03:14 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 03:03:14 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_008'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40801, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 03:03:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 03:03:14 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 03:03:14 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 03:03:14 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 03:03:14 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 03:03:14 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 03:03:14 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_008'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40803, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 03:03:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 03:03:14 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 03:03:14 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 03:03:15 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 03:03:15 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 03:03:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 03:03:16 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 03:03:16 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 03:03:16 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_008'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40802, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 03:03:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 03:03:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 03:03:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 03:03:16 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 03:03:17 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 03:03:17 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 03:03:17 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 03:03:17 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_008'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40804, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 03:03:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 03:03:17 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 03:03:17 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 03:03:17 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 03:03:17 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 03:03:17 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 03:03:17 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 03:03:17 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 03:03:17 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 03:03:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:17 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104998m [env.py: 870] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:17 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 03:03:17 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 03:03:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122359m [env.py: 870] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:17 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44848107 -0.85758575 -0.10499818] yaw=-68.5deg [env.py: 1019] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44885951 -1.09080655 -0.10499818] yaw=-53.1deg [env.py: 1019] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40352835 -1.08791388 -0.12235942] yaw=-44.9deg [env.py: 1019] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:03:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.0ms, retries=206.5ms, total=222.5ms [env.py: 1075] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.088, -0.122) [env.py: 1079] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:03:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.3ms, retries=228.9ms, total=245.2ms [env.py: 1075] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -0.858, -0.105) [env.py: 1079] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 03:03:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:17 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 03:03:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:03:18 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 03:03:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:03:18 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 03:03:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 03:03:19 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 03:03:19 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 03:03:19 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 03:03:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111926m [env.py: 870] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:19 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.5ms, retries=254.4ms, total=270.9ms [env.py: 1105] +05/12 03:03:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:03:19 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:03:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 03:03:19 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 03:03:19 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 03:03:19 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 03:03:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184508m [env.py: 870] +05/12 03:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:19 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52805103 -0.94184144 -0.18450836] yaw=-69.2deg [env.py: 1019] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.4ms, retries=188.1ms, total=204.5ms [env.py: 1075] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.942, -0.185) [env.py: 1079] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg [env.py: 1082] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:03:20 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 03:03:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:03:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147266m [env.py: 870] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=157.8ms, total=157.8ms [env.py: 1105] +05/12 03:03:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:03:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:03:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:03:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151012m [env.py: 870] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24911464 -1.11940392 -0.15101243] yaw=-43.7deg [env.py: 1019] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:03:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.8ms [env.py: 1075] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.119, -0.151) [env.py: 1079] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 03:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:03:21 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 03:03:46 INFO: [Worker 0] Warmed up parallel IK solver in 28.207s [base_object_manipulation_planner_policy.py: 377] +05/12 03:03:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:03:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:03:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 29.046s [base_object_manipulation_planner_policy.py: 377] +05/12 03:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:03:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:03:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:03:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.988s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:03:48 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.793[m] 104.900[deg] [grasp_sample.py: 539] +05/12 03:03:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:03:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:03:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:03:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:03:49 INFO: [Worker 0] Warmed up parallel IK solver in 29.551s [base_object_manipulation_planner_policy.py: 377] +05/12 03:03:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:03:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:03:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 29.297s [base_object_manipulation_planner_policy.py: 377] +05/12 03:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:03:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:03:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:03:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.526s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:03:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.653[m] 88.449[deg] [grasp_sample.py: 539] +05/12 03:03:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:03:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.494s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:03:51 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.693[m] 75.875[deg] [grasp_sample.py: 539] +05/12 03:03:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:03:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:03:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:03:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:03:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:03:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:03:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:03:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.336s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:03:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.723[m] 89.963[deg] [grasp_sample.py: 539] +05/12 03:03:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:03:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:03:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173118m [env.py: 870] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.1ms, total=201.2ms [env.py: 1105] +05/12 03:03:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:03:56 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:03:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:03:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:03:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:03:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:03:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:03:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146279m [env.py: 870] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:03:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18844973 -0.99829862 -0.14627881] yaw=-34.5deg [env.py: 1019] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22496701 -0.91684978 -0.14627881] yaw=-55.5deg [env.py: 1019] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:03:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1075] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -0.998, -0.146) [env.py: 1079] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg [env.py: 1082] +05/12 03:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:03:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:03:58 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 03:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:03:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:03:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:03:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:03:59 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:04:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:04:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:04:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:04:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:04:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:04:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:04:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162638m [env.py: 870] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:04:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22832238 -0.97839951 -0.16263811] yaw=-55.0deg [env.py: 1019] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:04:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.4ms [env.py: 1075] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -0.978, -0.163) [env.py: 1079] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 03:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:04:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:04:01 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 03:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 03:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:04:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:04:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:04:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.509s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:04:03 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:04:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:04:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:04:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:04:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:04:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:04:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:04:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162015m [env.py: 870] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:04:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4749069 -0.96622173 -0.16201526] yaw=-68.6deg [env.py: 1019] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61789052 -0.9258348 -0.16201526] yaw=-76.6deg [env.py: 1019] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:04:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=607.1ms, total=607.1ms [env.py: 1075] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.966, -0.162) [env.py: 1079] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg [env.py: 1082] +05/12 03:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:04:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:04:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:04:05 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 03:04:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:04:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:04:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:04:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:04:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.780s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:04:11 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.673[m] 91.896[deg] [grasp_sample.py: 539] +05/12 03:04:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:04:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:04:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:04:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:04:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:04:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:04:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:04:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:04:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:04:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:04:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:04:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:04:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:04:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:04:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:04:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 398 non-colliding grasps [grasp_sample.py: 465] +05/12 03:04:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:04:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.338s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:04:57 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.052[m] 7.686[deg] [grasp_sample.py: 539] +05/12 03:04:58 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:05:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:05:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:05:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:05:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:05:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:05:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:05:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:05:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:05:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118057m [env.py: 870] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:05:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=260.4ms, total=260.4ms [env.py: 1105] +05/12 03:05:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:05:00 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:05:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:05:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:05:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:05:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:05:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:05:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:05:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101810m [env.py: 870] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:05:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.6ms, total=212.7ms [env.py: 1105] +05/12 03:05:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:05:02 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:05:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:05:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:05:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:05:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:05:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:05:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115883m [env.py: 870] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:05:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59018992 -0.93069883 -0.11588298] yaw=-61.0deg [env.py: 1019] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62449049 -0.832189 -0.11588298] yaw=-72.3deg [env.py: 1019] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.6ms [env.py: 1075] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.931, -0.116) [env.py: 1079] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/12 03:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:05:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:05:03 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 03:05:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:05:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:05:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:05:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:05:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:05:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:05:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.628s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:05:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.685[m] 91.426[deg] [grasp_sample.py: 539] +05/12 03:05:07 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:05:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:05:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:05:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:05:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:05:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:05:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:05:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:05:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119023m [env.py: 870] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:05:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1105] +05/12 03:05:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:05:09 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:05:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:05:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:05:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:05:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:05:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:05:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:05:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198637m [env.py: 870] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:05:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4486872 -1.09157727 -0.19863729] yaw=-59.4deg [env.py: 1019] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:05:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.8ms, total=222.9ms [env.py: 1075] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.449, -1.092, -0.199) [env.py: 1079] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 03:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:05:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:05:10 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 03:05:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:05:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:05:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:05:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:05:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:05:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:05:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.580[m] 85.332[deg] [grasp_sample.py: 539] +05/12 03:05:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:05:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:05:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:05:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:35 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:05:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:05:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:05:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:05:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.021s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:05:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.397[m] 52.525[deg] [grasp_sample.py: 539] +05/12 03:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:05:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:05:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:50 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:54 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:05:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:05:55 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 03:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:05:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:05:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:05:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:05:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:05:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.756s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.397[m] 52.528[deg] [grasp_sample.py: 539] +05/12 03:06:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:06:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:06:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:06:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:06:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.47s (batch: 3.04s, save: 9.43s) [pipeline.py: 300] +05/12 03:06:08 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.67s: + episode_total: mean=174.39s, total=174.39s, count=1, min=174390.9ms, max=174390.9ms + sensor_polling: mean=343.0ms, total=93.98s, count=274, min=297.0ms, max=529.7ms + save_trajectories: mean=9.43s, total=9.43s, count=1, min=9427.5ms, max=9427.5ms + physics_step: mean=22.8ms, total=6.25s, count=274, min=19.5ms, max=60.1ms + task_sampling: mean=3.67s, total=3.67s, count=1, min=3672.1ms, max=3672.1ms + scene_load: mean=3.13s, total=3.13s, count=1, min=3131.4ms, max=3131.4ms + save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3038.6ms, max=3038.6ms + scene_env_create: mean=1.69s, total=1.69s, count=1, min=1690.6ms, max=1690.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.4ms, max=1298.4ms + compile_mujoco: mean=704.4ms, total=704.4ms, count=1, min=704.4ms, max=704.4ms + task_specific_sample: mean=538.3ms, total=538.3ms, count=1, min=538.3ms, max=538.3ms + compile_xml_load: mean=509.9ms, total=509.9ms, count=1, min=509.9ms, max=509.9ms + scene_init: mean=99.0ms, total=99.0ms, count=1, min=99.0ms, max=99.0ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + scene_asset_install: mean=43.1ms, total=43.1ms, count=1, min=43.1ms, max=43.1ms + asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms + compile_robot_add: mean=23.3ms, total=23.3ms, count=1, min=23.3ms, max=23.3ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + scene_randomize: mean=951.6us, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=362.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=46.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151336m [env.py: 870] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1105] +05/12 03:06:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:06:10 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:06:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:06:11 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 03:06:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:06:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:06:11 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 03:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196696m [env.py: 870] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.5ms, total=198.5ms [env.py: 1105] +05/12 03:06:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:06:12 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169556m [env.py: 870] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.1ms, total=198.1ms [env.py: 1105] +05/12 03:06:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:06:13 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:06:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:06:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.938s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.397[m] 52.528[deg] [grasp_sample.py: 539] +05/12 03:06:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114352m [env.py: 870] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.3ms, total=188.4ms [env.py: 1105] +05/12 03:06:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:06:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:06:14 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:06:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:06:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:06:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154070m [env.py: 870] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49579802 -0.86368991 -0.15407007] yaw=-51.6deg [env.py: 1019] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:06:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=156.7ms, total=156.8ms [env.py: 1075] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.864, -0.154) [env.py: 1079] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 03:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:06:16 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 03:06:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 03:06:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:06:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:06:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.96s (batch: 3.12s, save: 8.84s) [pipeline.py: 300] +05/12 03:06:24 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.07s: + episode_total: mean=25.83s, total=180.80s, count=7, min=164.9ms, max=139931.8ms + sensor_polling: mean=319.9ms, total=85.74s, count=268, min=298.3ms, max=508.3ms + save_trajectories: mean=8.84s, total=8.84s, count=1, min=8840.9ms, max=8840.9ms + physics_step: mean=21.0ms, total=5.62s, count=268, min=14.7ms, max=33.1ms + task_sampling_failed: mean=1.13s, total=3.39s, count=3, min=164.9ms, max=3014.0ms + save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3120.0ms, max=3120.0ms + scene_load: mean=2.74s, total=2.74s, count=1, min=2735.4ms, max=2735.4ms + task_specific_sample: mean=386.9ms, total=2.71s, count=7, min=162.5ms, max=846.2ms + task_sampling: mean=518.1ms, total=2.07s, count=4, min=380.7ms, max=848.4ms + scene_env_create: mean=1.77s, total=1.77s, count=1, min=1769.9ms, max=1769.9ms + scene_compile: mean=816.6ms, total=816.6ms, count=1, min=816.6ms, max=816.6ms + compile_mujoco: mean=537.0ms, total=537.0ms, count=1, min=537.0ms, max=537.0ms + compile_xml_load: mean=214.4ms, total=214.4ms, count=1, min=214.4ms, max=214.4ms + scene_init: mean=98.4ms, total=98.4ms, count=1, min=98.4ms, max=98.4ms + scene_asset_install: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + compile_aux_policy_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + asset_install_grasps: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + scene_randomize: mean=972.9us, total=6.8ms, count=7, min=0.9ms, max=1.1ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=386.7us, total=2.7ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=20.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:06:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:06:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.36s (batch: 3.84s, save: 9.52s) [pipeline.py: 300] +05/12 03:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:24 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.763[m] 84.751[deg] [grasp_sample.py: 539] +05/12 03:06:25 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.56s: + episode_total: mean=190.59s, total=190.59s, count=1, min=190585.5ms, max=190585.5ms + sensor_polling: mean=384.9ms, total=112.78s, count=293, min=299.8ms, max=598.5ms + save_trajectories: mean=9.52s, total=9.52s, count=1, min=9520.0ms, max=9520.0ms + physics_step: mean=23.7ms, total=6.96s, count=293, min=14.9ms, max=34.1ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3838.9ms, max=3838.9ms + task_sampling: mean=3.56s, total=3.56s, count=1, min=3559.7ms, max=3559.7ms + scene_load: mean=2.98s, total=2.98s, count=1, min=2980.4ms, max=2980.4ms + scene_env_create: mean=1.68s, total=1.68s, count=1, min=1680.9ms, max=1680.9ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1156.2ms, max=1156.2ms + compile_mujoco: mean=704.9ms, total=704.9ms, count=1, min=704.9ms, max=704.9ms + task_specific_sample: mean=577.0ms, total=577.0ms, count=1, min=577.0ms, max=577.0ms + compile_xml_load: mean=364.9ms, total=364.9ms, count=1, min=364.9ms, max=364.9ms + scene_init: mean=99.8ms, total=99.8ms, count=1, min=99.8ms, max=99.8ms + compile_aux_objects: mean=50.0ms, total=50.0ms, count=1, min=50.0ms, max=50.0ms + compile_aux_policy_objects: mean=50.0ms, total=50.0ms, count=1, min=50.0ms, max=50.0ms + scene_asset_install: mean=43.2ms, total=43.2ms, count=1, min=43.2ms, max=43.2ms + asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + compile_robot_add: mean=23.4ms, total=23.4ms, count=1, min=23.4ms, max=23.4ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + scene_randomize: mean=902.2us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=363.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:06:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134998m [env.py: 870] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5816506 -0.7379043 -0.13499829] yaw=-71.4deg [env.py: 1019] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19947977 -1.07127872 -0.13499829] yaw=-39.3deg [env.py: 1019] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.41299526 -1.06394277 -0.13499829] yaw=-40.3deg [env.py: 1019] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.7ms, total=231.8ms [env.py: 1075] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.738, -0.135) [env.py: 1079] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg [env.py: 1082] +05/12 03:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:06:25 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 03:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 03:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:06:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:06:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:26 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:06:26 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:06:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=3.85s: + episode_total: mean=30.41s, total=182.45s, count=6, min=211.7ms, max=101365.8ms + sensor_polling: mean=365.7ms, total=87.03s, count=238, min=308.4ms, max=509.3ms + physics_step: mean=20.7ms, total=4.92s, count=238, min=13.0ms, max=33.6ms + task_sampling: mean=1.28s, total=3.85s, count=3, min=426.9ms, max=2993.5ms + scene_load: mean=2.57s, total=2.57s, count=1, min=2567.1ms, max=2567.1ms + task_specific_sample: mean=327.8ms, total=1.97s, count=6, min=208.9ms, max=425.8ms + scene_env_create: mean=1.50s, total=1.50s, count=1, min=1504.7ms, max=1504.7ms + scene_compile: mean=918.4ms, total=918.4ms, count=1, min=918.4ms, max=918.4ms + task_sampling_failed: mean=234.2ms, total=702.6ms, count=3, min=211.7ms, max=269.7ms + compile_mujoco: mean=527.0ms, total=527.0ms, count=1, min=527.0ms, max=527.0ms + compile_xml_load: mean=281.6ms, total=281.6ms, count=1, min=281.6ms, max=281.6ms + scene_init: mean=97.4ms, total=97.4ms, count=1, min=97.4ms, max=97.4ms + compile_aux_objects: mean=91.4ms, total=91.4ms, count=1, min=91.4ms, max=91.4ms + compile_aux_policy_objects: mean=91.4ms, total=91.4ms, count=1, min=91.4ms, max=91.4ms + scene_asset_install: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms + asset_install_grasps: mean=33.2ms, total=33.2ms, count=1, min=33.2ms, max=33.2ms + compile_robot_add: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + scene_randomize: mean=1.0ms, total=6.0ms, count=6, min=0.9ms, max=1.2ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=393.2us, total=2.4ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=20.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187051m [env.py: 870] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46229932 -0.97156331 -0.18705136] yaw=-65.6deg [env.py: 1019] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=215.3ms, total=215.4ms [env.py: 1075] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.972, -0.187) [env.py: 1079] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg [env.py: 1082] +05/12 03:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:06:26 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 03:06:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 03:06:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144818m [env.py: 870] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4076025 -1.13047918 -0.14481768] yaw=-56.0deg [env.py: 1019] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:06:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=197.0ms, total=197.1ms [env.py: 1075] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -1.130, -0.145) [env.py: 1079] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 03:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.783s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:06:27 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:06:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116505m [env.py: 870] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:06:28 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 03:06:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5844535 -0.96809842 -0.11650469] yaw=-72.8deg [env.py: 1019] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:06:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=196.3ms, total=196.4ms [env.py: 1075] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.968, -0.117) [env.py: 1079] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg [env.py: 1082] +05/12 03:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:06:28 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 03:06:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 03:06:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.754s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.656[m] 84.463[deg] [grasp_sample.py: 539] +05/12 03:06:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104757m [env.py: 870] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:06:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.67739742 -0.97732665 -0.10475676] yaw=-73.5deg [env.py: 1019] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26242129 -1.06269749 -0.10475676] yaw=-35.2deg [env.py: 1019] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=204.2ms, total=204.3ms [env.py: 1075] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.677, -0.977, -0.105) [env.py: 1079] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg [env.py: 1082] +05/12 03:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:06:29 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 03:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 03:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.678[m] 90.525[deg] [grasp_sample.py: 539] +05/12 03:06:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:06:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:06:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:06:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.819s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.653[m] 94.110[deg] [grasp_sample.py: 539] +05/12 03:06:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:06:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:06:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:06:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.282s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:35 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.680[m] 87.804[deg] [grasp_sample.py: 539] +05/12 03:06:37 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:06:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:06:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:06:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:06:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196804m [env.py: 870] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4173957 -1.03792002 -0.19680448] yaw=-59.1deg [env.py: 1019] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:06:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=260.3ms, total=260.3ms [env.py: 1075] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -1.038, -0.197) [env.py: 1079] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/12 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:06:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:06:39 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 03:06:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:06:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:06:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.423s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:06:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.670[m] 94.046[deg] [grasp_sample.py: 539] +05/12 03:06:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:06:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:06:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:06:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:06:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:06:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:06:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:06:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:06:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:06:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:07:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.034s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:07:02 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.564[m] 67.940[deg] [grasp_sample.py: 539] +05/12 03:07:03 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:07:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:07:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:07:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:07:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:07:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:07:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163329m [env.py: 870] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:07:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46635198 -0.88978341 -0.16332859] yaw=-51.9deg [env.py: 1019] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18519017 -0.95161382 -0.16332859] yaw=-35.5deg [env.py: 1019] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.373403 -1.15529092 -0.16332859] yaw=-49.2deg [env.py: 1019] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:07:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=552.2ms, total=552.3ms [env.py: 1075] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.466, -0.890, -0.163) [env.py: 1079] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 03:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 03:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:07:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:07:05 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 03:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 03:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:07:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:07:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:07:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:07:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.715[m] 86.161[deg] [grasp_sample.py: 539] +05/12 03:07:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:07:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:07:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:07:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:07:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:07:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:07:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:07:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.509s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:07:26 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.162[m] 13.239[deg] [grasp_sample.py: 539] +05/12 03:07:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:07:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:07:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:07:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:07:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:07:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:07:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:07:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:07:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:07:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:00 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:08:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:08:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:08:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:08:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 389 non-colliding grasps [grasp_sample.py: 465] +05/12 03:08:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.363s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:08:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.131[m] 4.398[deg] [grasp_sample.py: 539] +05/12 03:08:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:08:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:08:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:08:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:08:22 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:08:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:35 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:08:38 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:08:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:08:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:08:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:08:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 340 non-colliding grasps [grasp_sample.py: 465] +05/12 03:08:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.358s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:08:38 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.128[m] 4.295[deg] [grasp_sample.py: 539] +05/12 03:08:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:08:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:08:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:42 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:08:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:08:42 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 03:08:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:49 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:08:49 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.46s: + episode_total: mean=143.11s, total=143.11s, count=1, min=143109.9ms, max=143109.9ms + sensor_polling: mean=355.8ms, total=106.74s, count=300, min=303.8ms, max=655.6ms + physics_step: mean=22.6ms, total=6.77s, count=300, min=19.0ms, max=35.3ms + task_sampling: mean=457.2ms, total=457.2ms, count=1, min=457.2ms, max=457.2ms + task_specific_sample: mean=453.2ms, total=453.2ms, count=1, min=453.2ms, max=453.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=597.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:08:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:08:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:08:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:08:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:08:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:08:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:08:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193980m [env.py: 870] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:08:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22997654 -1.16834692 -0.19398021] yaw=-29.5deg [env.py: 1019] +05/12 03:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4537076 -1.06450559 -0.19398021] yaw=-43.4deg [env.py: 1019] +05/12 03:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.2ms, total=213.3ms [env.py: 1075] +05/12 03:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -1.168, -0.194) [env.py: 1079] +05/12 03:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.5 deg [env.py: 1082] +05/12 03:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 03:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:08:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:08:51 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 03:08:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 03:08:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:08:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:08:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:08:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:08:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:08:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.19s (batch: 3.22s, save: 8.97s) [pipeline.py: 300] +05/12 03:08:55 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.76s: + episode_total: mean=26.46s, total=158.75s, count=6, min=196.1ms, max=147800.3ms + sensor_polling: mean=365.9ms, total=99.16s, count=271, min=305.1ms, max=569.7ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8970.9ms, max=8970.9ms + physics_step: mean=23.2ms, total=6.27s, count=271, min=15.2ms, max=57.2ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3217.3ms, max=3217.3ms + task_specific_sample: mean=262.3ms, total=1.57s, count=6, min=193.2ms, max=416.4ms + task_sampling_failed: mean=207.2ms, total=828.8ms, count=4, min=196.1ms, max=220.0ms + task_sampling: mean=382.2ms, total=764.4ms, count=2, min=345.7ms, max=418.7ms + scene_randomize: mean=1.3ms, total=7.5ms, count=6, min=1.0ms, max=2.3ms + mj_forward_sync: mean=416.1us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:08:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:08:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:08:55 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 03:08:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.107s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:08:55 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.627[m] 82.335[deg] [grasp_sample.py: 539] +05/12 03:08:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:08:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:08:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:08:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:08:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:08:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:08:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:08:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:08:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:08:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:08:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129803m [env.py: 870] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:08:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23285395 -1.12728342 -0.12980279] yaw=-29.3deg [env.py: 1019] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60954948 -0.9593125 -0.12980279] yaw=-58.9deg [env.py: 1019] +05/12 03:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.65657171 -0.97195011 -0.12980279] yaw=-75.4deg [env.py: 1019] +05/12 03:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=496.4ms, total=496.4ms [env.py: 1075] +05/12 03:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.233, -1.127, -0.130) [env.py: 1079] +05/12 03:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg [env.py: 1082] +05/12 03:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 03:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:08:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:08:57 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 03:08:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/12 03:08:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:08:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:08:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:08:58 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:09:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.874s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:09:01 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.725[m] 83.638[deg] [grasp_sample.py: 539] +05/12 03:09:02 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:09:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102250m [env.py: 870] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46053476 -0.92123265 -0.10225048] yaw=-49.6deg [env.py: 1019] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53158856 -0.87639095 -0.10225048] yaw=-74.3deg [env.py: 1019] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63914482 -0.95616449 -0.10225048] yaw=-73.8deg [env.py: 1019] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:09:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.2ms [env.py: 1075] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.461, -0.921, -0.102) [env.py: 1079] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 03:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:09:03 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 03:09:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 03:09:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:09:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:09:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:09:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:09:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:09:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.37s (batch: 3.64s, save: 9.73s) [pipeline.py: 300] +05/12 03:09:09 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.94s: + episode_total: mean=80.05s, total=160.11s, count=2, min=9065.5ms, max=151043.1ms + sensor_polling: mean=374.4ms, total=101.08s, count=270, min=333.0ms, max=549.5ms + save_trajectories: mean=9.73s, total=9.73s, count=1, min=9730.7ms, max=9730.7ms + physics_step: mean=22.4ms, total=6.04s, count=270, min=15.3ms, max=72.8ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.3ms, max=3641.3ms + task_sampling: mean=470.6ms, total=941.2ms, count=2, min=457.5ms, max=483.7ms + task_specific_sample: mean=467.7ms, total=935.4ms, count=2, min=454.5ms, max=481.0ms + scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.2ms, max=1.5ms + mj_forward_sync: mean=465.8us, total=0.9ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:09:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109571m [env.py: 870] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23768731 -1.1949543 -0.10957131] yaw=-26.4deg [env.py: 1019] +05/12 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:09:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms [env.py: 1075] +05/12 03:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -1.195, -0.110) [env.py: 1079] +05/12 03:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.4 deg [env.py: 1082] +05/12 03:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 03:09:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:09:11 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 03:09:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 03:09:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:09:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:09:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:09:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:09:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.712[m] 82.515[deg] [grasp_sample.py: 539] +05/12 03:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:09:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:09:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:09:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:09:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.513s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:09:14 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.758[m] 84.706[deg] [grasp_sample.py: 539] +05/12 03:09:15 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:09:16 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:09:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:09:16 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 03:09:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168978m [env.py: 870] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=167.7ms, total=167.7ms [env.py: 1105] +05/12 03:09:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:09:17 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:09:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153518m [env.py: 870] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.0ms, total=187.0ms [env.py: 1105] +05/12 03:09:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:09:18 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:09:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148720m [env.py: 870] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.3ms, total=193.3ms [env.py: 1105] +05/12 03:09:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:09:20 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:09:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114516m [env.py: 870] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.6ms, total=196.7ms [env.py: 1105] +05/12 03:09:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:09:21 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103572m [env.py: 870] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55063288 -0.74970202 -0.10357197] yaw=-60.1deg [env.py: 1019] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.0ms, total=210.0ms [env.py: 1075] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -0.750, -0.104) [env.py: 1079] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 03:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:09:23 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 03:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:09:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:09:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:09:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.351s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:09:25 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:09:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104111m [env.py: 870] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42811624 -1.08137489 -0.10411118] yaw=-62.1deg [env.py: 1019] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:09:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.1ms [env.py: 1075] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -1.081, -0.104) [env.py: 1079] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.1 deg [env.py: 1082] +05/12 03:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:09:26 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 03:09:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 03:09:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:09:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:09:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:09:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.437s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:09:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.672[m] 89.801[deg] [grasp_sample.py: 539] +05/12 03:09:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:09:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:09:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.88s (batch: 2.96s, save: 8.92s) [pipeline.py: 300] +05/12 03:09:29 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.64s: + episode_total: mean=60.42s, total=181.25s, count=3, min=2382.2ms, max=144477.3ms + sensor_polling: mean=360.0ms, total=115.92s, count=322, min=307.2ms, max=546.7ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8916.1ms, max=8916.1ms + physics_step: mean=22.4ms, total=7.21s, count=322, min=14.8ms, max=35.1ms + save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2964.1ms, max=2964.1ms + task_sampling: mean=547.3ms, total=1.64s, count=3, min=427.3ms, max=778.2ms + task_specific_sample: mean=544.4ms, total=1.63s, count=3, min=423.8ms, max=775.9ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.1ms, max=2.3ms + mj_forward_sync: mean=396.5us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=17.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:09:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:09:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146186m [env.py: 870] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:09:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:09:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:09:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:09:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:09:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195462m [env.py: 870] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:09:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41078982 -0.97309164 -0.14618627] yaw=-46.5deg [env.py: 1019] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26781831 -0.94246081 -0.14618627] yaw=-47.0deg [env.py: 1019] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:09:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=349.5ms, total=349.5ms [env.py: 1075] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -0.973, -0.146) [env.py: 1079] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3535673 -1.06696265 -0.19546184] yaw=-38.0deg [env.py: 1019] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:09:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:09:31 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:09:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=733.9ms, total=733.9ms [env.py: 1075] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -1.067, -0.195) [env.py: 1079] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/12 03:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:09:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:09:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/12 03:09:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:09:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:09:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:09:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:09:31 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 03:09:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:09:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:09:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:09:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:09:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:09:33 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.655[m] 78.785[deg] [grasp_sample.py: 539] +05/12 03:09:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:09:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:09:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:09:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:09:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.968s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:09:34 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.748[m] 83.511[deg] [grasp_sample.py: 539] +05/12 03:09:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:09:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:09:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:09:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:09:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:09:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:09:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:10:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:10:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:10:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:10:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:10:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:10:33 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:10:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:10:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:10:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:10:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:10:53 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:10:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:10:53 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/12 03:11:03 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:11:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:11:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:11:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.82s (batch: 3.36s, save: 10.46s) [pipeline.py: 300] +05/12 03:11:07 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s: + episode_total: mean=136.59s, total=136.59s, count=1, min=136590.4ms, max=136590.4ms + sensor_polling: mean=344.6ms, total=89.95s, count=261, min=296.9ms, max=631.4ms + save_trajectories: mean=10.46s, total=10.46s, count=1, min=10462.5ms, max=10462.5ms + physics_step: mean=22.5ms, total=5.87s, count=261, min=14.8ms, max=31.7ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3356.7ms, max=3356.7ms + task_sampling: mean=430.6ms, total=430.6ms, count=1, min=430.6ms, max=430.6ms + task_specific_sample: mean=427.8ms, total=427.8ms, count=1, min=427.8ms, max=427.8ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=405.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:11:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187340m [env.py: 870] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59690614 -0.92928505 -0.18734021] yaw=-68.9deg [env.py: 1019] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:11:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=379.0ms, total=379.1ms [env.py: 1075] +05/12 03:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.597, -0.929, -0.187) [env.py: 1079] +05/12 03:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg [env.py: 1082] +05/12 03:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 03:11:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:11:09 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 03:11:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 03:11:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:11:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:11:10 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.643[m] 89.749[deg] [grasp_sample.py: 539] +05/12 03:11:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:11:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:11:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:11:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:11:14 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:11:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:11:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:11:24 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 03:11:28 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:11:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:11:36 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 03:11:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:11:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:11:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.17s (batch: 3.46s, save: 9.71s) [pipeline.py: 300] +05/12 03:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:11:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:11:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:11:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:11:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.38s: + episode_total: mean=147.74s, total=147.74s, count=1, min=147738.7ms, max=147738.7ms + sensor_polling: mean=361.2ms, total=101.50s, count=281, min=325.6ms, max=568.1ms + save_trajectories: mean=9.71s, total=9.71s, count=1, min=9706.7ms, max=9706.7ms + physics_step: mean=21.6ms, total=6.06s, count=281, min=14.8ms, max=77.2ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3458.3ms, max=3458.3ms + task_sampling: mean=375.8ms, total=375.8ms, count=1, min=375.8ms, max=375.8ms + task_specific_sample: mean=372.4ms, total=372.4ms, count=1, min=372.4ms, max=372.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=421.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:11:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160291m [env.py: 870] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23835437 -1.19256032 -0.1602911 ] yaw=-44.3deg [env.py: 1019] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55202504 -0.75465705 -0.1602911 ] yaw=-60.4deg [env.py: 1019] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3574265 -1.1660955 -0.1602911] yaw=-48.3deg [env.py: 1019] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:11:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.5ms, total=157.6ms [env.py: 1075] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -1.193, -0.160) [env.py: 1079] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg [env.py: 1082] +05/12 03:11:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:11:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.467[m] 59.881[deg] [grasp_sample.py: 539] +05/12 03:11:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:11:40 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 03:11:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 03:11:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:11:41 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:11:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192890m [env.py: 870] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17514505 -1.04802875 -0.19288973] yaw=-51.0deg [env.py: 1019] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3879169 -1.01023381 -0.19288973] yaw=-47.2deg [env.py: 1019] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:11:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.9ms, total=215.9ms [env.py: 1075] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.048, -0.193) [env.py: 1079] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 03:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:11:43 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 03:11:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/12 03:11:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:11:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.774s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:11:45 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:11:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146338m [env.py: 870] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.3ms, total=203.4ms [env.py: 1105] +05/12 03:11:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:11:46 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:11:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.430s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:11:47 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.644[m] 90.722[deg] [grasp_sample.py: 539] +05/12 03:11:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:11:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:11:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:11:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165901m [env.py: 870] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14924536 -0.99701665 -0.16590125] yaw=-41.5deg [env.py: 1019] +05/12 03:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:11:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.0ms [env.py: 1075] +05/12 03:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -0.997, -0.166) [env.py: 1079] +05/12 03:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/12 03:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 03:11:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:11:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:11:48 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 03:11:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:11:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:11:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:11:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:11:49 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 03:11:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:11:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:11:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.79s (batch: 3.54s, save: 9.25s) [pipeline.py: 300] +05/12 03:11:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:11:49 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:11:50 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.93s: + episode_total: mean=18.16s, total=163.42s, count=9, min=176.1ms, max=139616.3ms + sensor_polling: mean=349.7ms, total=93.03s, count=266, min=303.1ms, max=564.8ms + save_trajectories: mean=9.25s, total=9.25s, count=1, min=9252.9ms, max=9252.9ms + physics_step: mean=22.3ms, total=5.94s, count=266, min=15.0ms, max=36.2ms + task_specific_sample: mean=408.6ms, total=3.68s, count=9, min=172.6ms, max=976.7ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3537.9ms, max=3537.9ms + task_sampling: mean=585.3ms, total=2.93s, count=5, min=276.7ms, max=979.4ms + task_sampling_failed: mean=193.9ms, total=775.5ms, count=4, min=176.1ms, max=204.0ms + scene_randomize: mean=1.2ms, total=10.6ms, count=9, min=0.9ms, max=2.3ms + mj_forward_sync: mean=440.9us, total=4.0ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=19.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:11:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179564m [env.py: 870] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.1ms, total=194.1ms [env.py: 1105] +05/12 03:11:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:11:51 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:11:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151146m [env.py: 870] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1589365 -1.11932783 -0.15114605] yaw=-41.9deg [env.py: 1019] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4442366 -1.09212899 -0.15114605] yaw=-61.1deg [env.py: 1019] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:11:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms [env.py: 1075] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.119, -0.151) [env.py: 1079] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/12 03:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:11:52 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 03:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 03:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:11:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118799m [env.py: 870] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.2ms, total=201.3ms [env.py: 1105] +05/12 03:11:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:11:52 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:11:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151956m [env.py: 870] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3160144 -0.85540991 -0.15195602] yaw=-53.7deg [env.py: 1019] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.8ms [env.py: 1075] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.316, -0.855, -0.152) [env.py: 1079] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.7 deg [env.py: 1082] +05/12 03:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:11:54 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 03:11:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 03:11:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:11:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.286s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:11:56 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:11:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.024s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:11:56 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.744[m] 80.969[deg] [grasp_sample.py: 539] +05/12 03:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:11:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:11:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:11:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:11:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:11:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:11:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:11:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:11:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175205m [env.py: 870] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:11:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27211689 -1.05737656 -0.17520459] yaw=-39.4deg [env.py: 1019] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1157308 -1.0509355 -0.17520459] yaw=-45.8deg [env.py: 1019] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18383718 -1.12693151 -0.17520459] yaw=-48.8deg [env.py: 1019] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:11:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.3ms [env.py: 1075] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.057, -0.175) [env.py: 1079] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg [env.py: 1082] +05/12 03:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:11:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:11:57 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 03:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/12 03:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:11:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:11:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:12:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.394s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:12:00 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.730[m] 74.129[deg] [grasp_sample.py: 539] +05/12 03:12:01 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:12:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:12:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:12:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.66s (batch: 3.63s, save: 9.03s) [pipeline.py: 300] +05/12 03:12:02 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.67s: + episode_total: mean=151.68s, total=151.68s, count=1, min=151676.1ms, max=151676.1ms + sensor_polling: mean=365.4ms, total=104.13s, count=285, min=298.2ms, max=600.4ms + save_trajectories: mean=9.03s, total=9.03s, count=1, min=9031.9ms, max=9031.9ms + physics_step: mean=23.6ms, total=6.73s, count=285, min=19.4ms, max=33.2ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3629.5ms, max=3629.5ms + task_sampling: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms + task_specific_sample: mean=664.2ms, total=664.2ms, count=1, min=664.2ms, max=664.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=424.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:12:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:12:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:12:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:12:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:12:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:12:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:12:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157381m [env.py: 870] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:12:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27042209 -0.97419912 -0.15738095] yaw=-46.9deg [env.py: 1019] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38897318 -1.15357008 -0.15738095] yaw=-57.2deg [env.py: 1019] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16383234 -1.04987678 -0.15738095] yaw=-51.9deg [env.py: 1019] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:12:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.8ms, total=167.9ms [env.py: 1075] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -0.974, -0.157) [env.py: 1079] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 03:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:12:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:12:02 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 03:12:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 03:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:12:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:12:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:12:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:12:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:12:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:12:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:12:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:12:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:12:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141568m [env.py: 870] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:12:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37912901 -0.98807492 -0.14156768] yaw=-63.4deg [env.py: 1019] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:12:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.6ms, total=208.6ms [env.py: 1075] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -0.988, -0.142) [env.py: 1079] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/12 03:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:12:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:12:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:12:04 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 03:12:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 03:12:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:12:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:12:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:12:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.557s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:12:07 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.684[m] 85.689[deg] [grasp_sample.py: 539] +05/12 03:12:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:12:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:12:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:12:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.032s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:12:09 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.750[m] 86.184[deg] [grasp_sample.py: 539] +05/12 03:12:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:12:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:12:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:12:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:12:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:12:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:12:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:12:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:12:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:12:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:13:04 INFO: [Worker 0] Object is not in grasp! 0.00011 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:13:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:13:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:13:07 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 03:13:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153141m [env.py: 870] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32520835 -1.07052245 -0.15314126] yaw=-39.3deg [env.py: 1019] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.5ms, total=230.5ms [env.py: 1075] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.071, -0.153) [env.py: 1079] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/12 03:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:13:09 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 03:13:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.382s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:13:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 80.685[deg] [grasp_sample.py: 539] +05/12 03:13:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:13:11 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:13:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134363m [env.py: 870] +05/12 03:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.8ms, total=217.8ms [env.py: 1105] +05/12 03:13:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:13:13 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:13:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:13:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106476m [env.py: 870] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.357463 -1.0456657 -0.10647596] yaw=-59.0deg [env.py: 1019] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.58028663 -0.98029394 -0.10647596] yaw=-60.7deg [env.py: 1019] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:13:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.6ms [env.py: 1075] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.046, -0.106) [env.py: 1079] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 03:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:13:14 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 03:13:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:13:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.738s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:13:19 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.716[m] 93.284[deg] [grasp_sample.py: 539] +05/12 03:13:20 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:13:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101871m [env.py: 870] +05/12 03:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33109377 -0.87825121 -0.10187108] yaw=-64.8deg [env.py: 1019] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:13:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.2ms [env.py: 1075] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.878, -0.102) [env.py: 1079] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 03:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:13:22 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 03:13:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 03:13:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:13:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.290s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:13:23 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:13:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107406m [env.py: 870] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64644612 -0.9123386 -0.10740638] yaw=-73.6deg [env.py: 1019] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:13:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1075] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.646, -0.912, -0.107) [env.py: 1079] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg [env.py: 1082] +05/12 03:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:13:25 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 03:13:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 03:13:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:13:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.885s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:13:32 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.735[m] 92.819[deg] [grasp_sample.py: 539] +05/12 03:13:33 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:13:33 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 03:13:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198758m [env.py: 870] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5377931 -0.82145745 -0.19875842] yaw=-74.7deg [env.py: 1019] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:13:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms [env.py: 1075] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.821, -0.199) [env.py: 1079] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.7 deg [env.py: 1082] +05/12 03:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:13:35 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 03:13:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 03:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:37 INFO: [Worker 0] Object is not in grasp! 0.00172 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:13:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:13:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 406 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.362s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:13:38 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.073[m] 9.485[deg] [grasp_sample.py: 539] +05/12 03:13:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:13:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:13:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:13:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:13:46 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:13:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.115s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:13:49 INFO: [Worker 0] Feasible grasp found 152 (originally 152): w/ 0.712[m] 92.499[deg] [grasp_sample.py: 539] +05/12 03:13:50 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:13:51 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:13:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106310m [env.py: 870] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.1ms, total=209.1ms [env.py: 1105] +05/12 03:13:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:13:51 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:13:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:13:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174551m [env.py: 870] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=312.0ms, total=312.0ms [env.py: 1105] +05/12 03:13:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:13:53 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135523m [env.py: 870] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1105] +05/12 03:13:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:13:55 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:13:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:13:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:13:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:13:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:13:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:13:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167879m [env.py: 870] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:13:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44763936 -1.10375034 -0.16787878] yaw=-53.0deg [env.py: 1019] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:13:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.6ms, total=204.6ms [env.py: 1075] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -1.104, -0.168) [env.py: 1079] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 03:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:13:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:13:56 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 03:13:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:13:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:13:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:13:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:13:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:13:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.879s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:13:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.619[m] 97.993[deg] [grasp_sample.py: 539] +05/12 03:13:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:13:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:13:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:13:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:14:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:14:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:14:06 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 03:14:12 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:14:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:14:12 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 03:14:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:14:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:14:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.66s (batch: 3.36s, save: 9.30s) [pipeline.py: 300] +05/12 03:14:20 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.48s: + episode_total: mean=160.32s, total=160.32s, count=1, min=160318.9ms, max=160318.9ms + sensor_polling: mean=416.2ms, total=110.30s, count=265, min=330.3ms, max=711.4ms + save_trajectories: mean=9.30s, total=9.30s, count=1, min=9302.3ms, max=9302.3ms + physics_step: mean=25.1ms, total=6.65s, count=265, min=19.1ms, max=76.4ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3361.5ms, max=3361.5ms + task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms + task_specific_sample: mean=477.6ms, total=477.6ms, count=1, min=477.6ms, max=477.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=410.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=29.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:14:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:14:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:14:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108812m [env.py: 870] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34330732 -1.03936636 -0.1088125 ] yaw=-56.8deg [env.py: 1019] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11777843 -1.09049123 -0.1088125 ] yaw=-46.2deg [env.py: 1019] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.1ms, total=286.1ms [env.py: 1075] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -1.039, -0.109) [env.py: 1079] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg [env.py: 1082] +05/12 03:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:14:22 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 03:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 03:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:14:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:14:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:14:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:14:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:14:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.92s (batch: 3.13s, save: 8.79s) [pipeline.py: 300] +05/12 03:14:24 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=2.59s: + episode_total: mean=20.61s, total=185.49s, count=9, min=201.9ms, max=142083.1ms + sensor_polling: mean=328.4ms, total=110.03s, count=335, min=296.5ms, max=706.8ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8790.3ms, max=8790.3ms + physics_step: mean=21.6ms, total=7.24s, count=335, min=14.7ms, max=38.3ms + task_specific_sample: mean=353.9ms, total=3.19s, count=9, min=198.9ms, max=642.9ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3132.3ms, max=3132.3ms + task_sampling: mean=431.3ms, total=2.59s, count=6, min=317.5ms, max=646.6ms + task_sampling_failed: mean=207.8ms, total=623.3ms, count=3, min=201.9ms, max=212.1ms + scene_randomize: mean=1.2ms, total=10.9ms, count=9, min=0.9ms, max=2.4ms + mj_forward_sync: mean=398.6us, total=3.6ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=18.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:14:25 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:14:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:14:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:14:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:14:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152805m [env.py: 870] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.9ms, total=201.9ms [env.py: 1105] +05/12 03:14:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:14:25 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:14:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:14:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:14:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:14:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:14:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:14:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138292m [env.py: 870] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:14:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23537953 -1.05646891 -0.1382921 ] yaw=-38.1deg [env.py: 1019] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:14:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms [env.py: 1075] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.056, -0.138) [env.py: 1079] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/12 03:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:14:27 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 03:14:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 03:14:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:14:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:14:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:14:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.744s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:14:30 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.753[m] 79.498[deg] [grasp_sample.py: 539] +05/12 03:14:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.311s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:14:31 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.742[m] 76.878[deg] [grasp_sample.py: 539] +05/12 03:14:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:14:31 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:14:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:14:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:14:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:14:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:14:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:14:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:14:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:14:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:14:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133167m [env.py: 870] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:14:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=706.9ms, total=707.0ms [env.py: 1105] +05/12 03:14:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:14:33 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:14:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:14:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:14:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:14:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:14:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:14:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100977m [env.py: 870] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:14:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=356.6ms, total=356.6ms [env.py: 1105] +05/12 03:14:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:14:35 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:14:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:14:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:14:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:14:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:14:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:14:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136531m [env.py: 870] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:14:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61630123 -0.96058353 -0.13653062] yaw=-67.3deg [env.py: 1019] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24350639 -1.01087525 -0.13653062] yaw=-45.0deg [env.py: 1019] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:14:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.4ms, total=222.4ms [env.py: 1075] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.961, -0.137) [env.py: 1079] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 03:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:14:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:14:37 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 03:14:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:14:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:14:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:14:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:14:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:14:39 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.639[m] 79.940[deg] [grasp_sample.py: 539] +05/12 03:14:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:14:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:14:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:14:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:14:48 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:14:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:14:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:14:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:14:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:14:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:15:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:15:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:15:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:15:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:15:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:15:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:15:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:15:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.65s (batch: 3.86s, save: 11.79s) [pipeline.py: 300] +05/12 03:15:04 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s: + episode_total: mean=180.89s, total=180.89s, count=1, min=180891.6ms, max=180891.6ms + sensor_polling: mean=394.8ms, total=118.44s, count=300, min=302.1ms, max=696.3ms + save_trajectories: mean=11.79s, total=11.79s, count=1, min=11786.3ms, max=11786.3ms + physics_step: mean=25.9ms, total=7.78s, count=300, min=19.9ms, max=38.7ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3863.0ms, max=3863.0ms + task_sampling: mean=474.5ms, total=474.5ms, count=1, min=474.5ms, max=474.5ms + task_specific_sample: mean=470.5ms, total=470.5ms, count=1, min=470.5ms, max=470.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=423.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:15:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:15:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.484[m] 56.827[deg] [grasp_sample.py: 539] +05/12 03:15:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:15:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:15:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:15:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:15:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:15:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:15:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:15:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:15:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191925m [env.py: 870] +05/12 03:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:15:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52632514 -0.86032153 -0.19192483] yaw=-73.9deg [env.py: 1019] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:15:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=695.0ms, total=695.1ms [env.py: 1075] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -0.860, -0.192) [env.py: 1079] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg [env.py: 1082] +05/12 03:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 03:15:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:15:06 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 03:15:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 03:15:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:15:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:15:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.961s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:15:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.739[m] 80.375[deg] [grasp_sample.py: 539] +05/12 03:15:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:15:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:15:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:15:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:15:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:15:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:15:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:15:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.436s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:15:19 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.484[m] 56.828[deg] [grasp_sample.py: 539] +05/12 03:15:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:15:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:15:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:15:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:15:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:15:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:15:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:15:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.484[m] 56.828[deg] [grasp_sample.py: 539] +05/12 03:15:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:15:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:15:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:15:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:15:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:15:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:15:44 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:15:44 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.94s: + episode_total: mean=14.71s, total=73.55s, count=5, min=214.3ms, max=67682.3ms + sensor_polling: mean=345.2ms, total=24.86s, count=72, min=300.6ms, max=567.4ms + task_specific_sample: mean=443.4ms, total=2.22s, count=5, min=207.5ms, max=713.7ms + physics_step: mean=18.8ms, total=1.35s, count=72, min=13.5ms, max=29.3ms + task_sampling_failed: mean=432.5ms, total=1.30s, count=3, min=214.3ms, max=717.5ms + task_sampling: mean=469.4ms, total=938.8ms, count=2, min=429.7ms, max=509.1ms + scene_randomize: mean=1.5ms, total=7.7ms, count=5, min=1.0ms, max=2.3ms + mj_forward_sync: mean=481.9us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=27.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:15:45 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:15:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:15:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:15:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:15:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:15:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:15:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:15:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181991m [env.py: 870] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:15:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=223.8ms, total=223.8ms [env.py: 1105] +05/12 03:15:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:15:46 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:15:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:15:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:15:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102842m [env.py: 870] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37270275 -1.04543418 -0.10284155] yaw=-49.6deg [env.py: 1019] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.28223851 -0.87368255 -0.10284155] yaw=-44.5deg [env.py: 1019] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:15:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=360.3ms, total=360.4ms [env.py: 1075] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.373, -1.045, -0.103) [env.py: 1079] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 03:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 03:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:15:48 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 03:15:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:15:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:15:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:15:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:15:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.627s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:15:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.748[m] 87.389[deg] [grasp_sample.py: 539] +05/12 03:15:53 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:15:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:15:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:15:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:15:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133925m [env.py: 870] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=623.6ms, total=623.7ms [env.py: 1105] +05/12 03:15:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:15:55 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:15:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:15:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:15:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164092m [env.py: 870] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3765701 -0.98435203 -0.1640924 ] yaw=-58.1deg [env.py: 1019] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=310.3ms, total=310.3ms [env.py: 1075] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -0.984, -0.164) [env.py: 1079] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 03:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:15:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:15:57 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 03:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:15:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:15:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.069s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:16:04 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.712[m] 83.041[deg] [grasp_sample.py: 539] +05/12 03:16:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:16:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:16:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:16:05 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:16:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:16:05 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 03:16:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:16:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:16:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:16:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:16:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.096[m] 6.951[deg] [grasp_sample.py: 539] +05/12 03:16:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:16:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:16:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:16:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:16:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:16:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.99s (batch: 3.33s, save: 8.66s) [pipeline.py: 300] +05/12 03:16:17 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=2.96s: + episode_total: mean=23.06s, total=253.64s, count=11, min=212.1ms, max=141376.3ms + sensor_polling: mean=341.5ms, total=151.63s, count=444, min=292.0ms, max=617.5ms + physics_step: mean=22.4ms, total=9.93s, count=444, min=19.5ms, max=34.1ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8661.7ms, max=8661.7ms + task_specific_sample: mean=354.7ms, total=3.90s, count=11, min=209.1ms, max=451.1ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3333.0ms, max=3333.0ms + task_sampling: mean=422.3ms, total=2.96s, count=7, min=401.6ms, max=454.7ms + task_sampling_failed: mean=244.4ms, total=977.7ms, count=4, min=212.1ms, max=321.7ms + scene_randomize: mean=1.3ms, total=13.8ms, count=11, min=1.0ms, max=2.5ms + mj_forward_sync: mean=434.5us, total=4.8ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=12.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:16:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:16:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159241m [env.py: 870] +05/12 03:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48848555 -1.01507296 -0.15924087] yaw=-50.3deg [env.py: 1019] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31228913 -0.99080851 -0.15924087] yaw=-38.4deg [env.py: 1019] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:16:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.0ms [env.py: 1075] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -1.015, -0.159) [env.py: 1079] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 03:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/12 03:16:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:16:19 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 03:16:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 03:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.734s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:16:21 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.141[m] 13.575[deg] [grasp_sample.py: 539] +05/12 03:16:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.474s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:16:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.658[m] 75.469[deg] [grasp_sample.py: 539] +05/12 03:16:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:16:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:16:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:16:22 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:16:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:16:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:16:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135801m [env.py: 870] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35005383 -0.86237976 -0.13580062] yaw=-63.7deg [env.py: 1019] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=283.4ms, total=283.4ms [env.py: 1075] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -0.862, -0.136) [env.py: 1079] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/12 03:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:16:23 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 03:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.511s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:16:25 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:16:26 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:16:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:16:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:16:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:16:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:16:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:16:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:16:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195943m [env.py: 870] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:16:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4752802 -0.7914202 -0.19594298] yaw=-69.3deg [env.py: 1019] +05/12 03:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:16:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=288.1ms, total=288.2ms [env.py: 1075] +05/12 03:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.791, -0.196) [env.py: 1079] +05/12 03:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg [env.py: 1082] +05/12 03:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 03:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:16:27 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 03:16:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 03:16:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.860s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:16:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:16:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:16:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:16:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:16:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:16:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:16:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:16:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101437m [env.py: 870] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:16:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49717964 -0.81046382 -0.10143718] yaw=-63.5deg [env.py: 1019] +05/12 03:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:16:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.9ms, total=202.9ms [env.py: 1075] +05/12 03:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.810, -0.101) [env.py: 1079] +05/12 03:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg [env.py: 1082] +05/12 03:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 03:16:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:16:31 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 03:16:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 03:16:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.316s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:16:33 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:16:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:16:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:16:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:16:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:16:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:16:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135554m [env.py: 870] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:16:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=222.8ms, total=222.9ms [env.py: 1105] +05/12 03:16:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:16:35 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:16:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:16:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:16:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:16:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:16:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:16:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182182m [env.py: 870] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:16:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35115446 -1.0338072 -0.18218213] yaw=-54.1deg [env.py: 1019] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5820399 -0.75214522 -0.18218213] yaw=-70.3deg [env.py: 1019] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:16:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=276.0ms, total=276.0ms [env.py: 1075] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -1.034, -0.182) [env.py: 1079] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 03:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:16:37 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 03:16:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.747s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:16:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.695[m] 94.919[deg] [grasp_sample.py: 539] +05/12 03:16:41 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:16:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:16:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:16:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:16:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:16:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:16:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197617m [env.py: 870] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:16:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31516083 -0.97711112 -0.19761682] yaw=-56.4deg [env.py: 1019] +05/12 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:16:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=659.5ms, total=659.5ms [env.py: 1075] +05/12 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -0.977, -0.198) [env.py: 1079] +05/12 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:16:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:16:43 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 03:16:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:16:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:16:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:16:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:16:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.710s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:16:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.738[m] 89.619[deg] [grasp_sample.py: 539] +05/12 03:16:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:16:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:16:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:16:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:16:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:16:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:16:47 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 03:17:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:17:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:17:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.34s (batch: 3.40s, save: 8.94s) [pipeline.py: 300] +05/12 03:17:00 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s: + episode_total: mean=159.11s, total=159.11s, count=1, min=159112.9ms, max=159112.9ms + sensor_polling: mean=363.7ms, total=102.56s, count=282, min=318.6ms, max=628.1ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8938.2ms, max=8938.2ms + physics_step: mean=23.0ms, total=6.49s, count=282, min=14.9ms, max=157.6ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3398.1ms, max=3398.1ms + task_sampling: mean=507.8ms, total=507.8ms, count=1, min=507.8ms, max=507.8ms + task_specific_sample: mean=504.4ms, total=504.4ms, count=1, min=504.4ms, max=504.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=385.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:17:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:17:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:17:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:17:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:17:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:17:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143047m [env.py: 870] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:17:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.53147469 -0.91046371 -0.1430474 ] yaw=-54.1deg [env.py: 1019] +05/12 03:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:17:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.1ms, total=214.2ms [env.py: 1075] +05/12 03:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.531, -0.910, -0.143) [env.py: 1079] +05/12 03:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 03:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 03:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:17:02 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 03:17:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 03:17:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:17:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:17:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:17:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.609s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:17:06 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.751[m] 80.666[deg] [grasp_sample.py: 539] +05/12 03:17:07 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:17:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:17:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:17:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:17:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:17:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:17:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:17:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155021m [env.py: 870] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:17:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=166.8ms, total=166.9ms [env.py: 1105] +05/12 03:17:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:17:08 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:17:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:17:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:17:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:17:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:17:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:17:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:17:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119369m [env.py: 870] +05/12 03:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:17:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41829987 -1.01570288 -0.11936929] yaw=-58.1deg [env.py: 1019] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:17:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.2ms, total=179.2ms [env.py: 1075] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.016, -0.119) [env.py: 1079] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 03:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 03:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:17:10 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 03:17:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 03:17:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:17:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:17:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:17:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:17:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.788s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:17:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.730[m] 98.470[deg] [grasp_sample.py: 539] +05/12 03:17:14 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:17:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:17:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:17:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:17:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:17:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:17:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196708m [env.py: 870] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:17:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34368233 -1.10914339 -0.19670792] yaw=-34.9deg [env.py: 1019] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:17:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=452.5ms, total=452.6ms [env.py: 1075] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -1.109, -0.197) [env.py: 1079] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg [env.py: 1082] +05/12 03:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:17:16 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 03:17:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 03:17:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:17:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:17:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:17:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:17:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.660[m] 85.131[deg] [grasp_sample.py: 539] +05/12 03:17:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:19 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:17:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:17:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:17:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:17:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:17:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:17:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106963m [env.py: 870] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:17:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41128182 -1.04277737 -0.10696261] yaw=-41.5deg [env.py: 1019] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:17:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms [env.py: 1075] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -1.043, -0.107) [env.py: 1079] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/12 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:17:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:17:21 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 03:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:17:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:17:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:17:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.516s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:17:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.767[m] 87.122[deg] [grasp_sample.py: 539] +05/12 03:17:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:17:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:17:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:17:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:17:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:17:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:17:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:17:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 03:17:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:17:42 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.515[deg] [grasp_sample.py: 539] +05/12 03:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:17:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:17:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:17:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:17:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:17:59 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:17:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:17:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:17:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:17:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 381 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:00 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.048[m] 0.520[deg] [grasp_sample.py: 539] +05/12 03:18:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:18:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:18:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:01 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:18:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:18:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:18:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:18:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:18:20 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 03:18:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:18:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:18:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.347s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:22 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.049[m] 1.309[deg] [grasp_sample.py: 539] +05/12 03:18:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:18:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:18:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:28 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:18:28 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:18:28 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=False episode_total=0.46s: + episode_total: mean=129.41s, total=129.41s, count=1, min=129406.5ms, max=129406.5ms + sensor_polling: mean=352.6ms, total=105.79s, count=300, min=299.6ms, max=615.3ms + physics_step: mean=23.1ms, total=6.93s, count=300, min=15.1ms, max=51.4ms + task_sampling: mean=462.5ms, total=462.5ms, count=1, min=462.5ms, max=462.5ms + task_specific_sample: mean=458.6ms, total=458.6ms, count=1, min=458.6ms, max=458.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=427.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:18:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173411m [env.py: 870] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=282.9ms, total=282.9ms [env.py: 1105] +05/12 03:18:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:18:30 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:18:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111306m [env.py: 870] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49461656 -0.97946282 -0.11130613] yaw=-67.2deg [env.py: 1019] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:18:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.3ms, total=197.4ms [env.py: 1075] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -0.979, -0.111) [env.py: 1079] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/12 03:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:18:31 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 03:18:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:18:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:18:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:18:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.22s (batch: 3.29s, save: 8.93s) [pipeline.py: 300] +05/12 03:18:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.989s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.691[m] 90.638[deg] [grasp_sample.py: 539] +05/12 03:18:33 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=1.18s: + episode_total: mean=40.78s, total=163.13s, count=4, min=233.8ms, max=156643.0ms + sensor_polling: mean=384.2ms, total=106.05s, count=276, min=301.0ms, max=783.9ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8928.1ms, max=8928.1ms + physics_step: mean=25.0ms, total=6.90s, count=276, min=15.0ms, max=80.0ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3292.1ms, max=3292.1ms + task_specific_sample: mean=508.7ms, total=2.03s, count=4, min=229.0ms, max=661.3ms + task_sampling: mean=591.7ms, total=1.18s, count=2, min=518.5ms, max=664.9ms + task_sampling_failed: mean=432.7ms, total=865.5ms, count=2, min=233.8ms, max=631.6ms + scene_randomize: mean=1.2ms, total=4.8ms, count=4, min=1.0ms, max=1.4ms + mj_forward_sync: mean=517.1us, total=2.1ms, count=4, min=0.4ms, max=0.7ms + policy_setup: mean=14.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:18:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149917m [env.py: 870] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30056276 -0.93837547 -0.1499169 ] yaw=-43.0deg [env.py: 1019] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.53983105 -1.00761222 -0.1499169 ] yaw=-63.7deg [env.py: 1019] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:18:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=376.3ms, total=376.4ms [env.py: 1075] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -0.938, -0.150) [env.py: 1079] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 03:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:18:35 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 03:18:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 03:18:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113557m [env.py: 870] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31047677 -0.88509994 -0.11355651] yaw=-55.9deg [env.py: 1019] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:18:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.6ms, total=205.6ms [env.py: 1075] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -0.885, -0.114) [env.py: 1079] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/12 03:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:18:35 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 03:18:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 03:18:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.722s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:18:37 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196737m [env.py: 870] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54813612 -0.89042558 -0.19673716] yaw=-65.4deg [env.py: 1019] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.8ms, total=222.8ms [env.py: 1075] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -0.890, -0.197) [env.py: 1079] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 03:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:18:39 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 03:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 03:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:18:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.753s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.684[m] 90.901[deg] [grasp_sample.py: 539] +05/12 03:18:42 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:18:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107576m [env.py: 870] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.8ms, total=211.8ms [env.py: 1105] +05/12 03:18:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:18:44 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:18:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.980s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:44 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 03:18:44 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: unsupported operand type(s) for %: 'NoneType' and 'int' [task_sampler.py: 396] +05/12 03:18:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189133m [env.py: 870] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48804108 -0.83612015 -0.18913251] yaw=-70.0deg [env.py: 1019] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:18:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.2ms, total=207.3ms [env.py: 1075] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.836, -0.189) [env.py: 1079] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg [env.py: 1082] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:18:45 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 03:18:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167547m [env.py: 870] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:18:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44795453 -0.945527 -0.16754672] yaw=-63.1deg [env.py: 1019] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:18:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59690658 -0.91939842 -0.16754672] yaw=-77.2deg [env.py: 1019] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:18:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:18:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=342.4ms, total=342.5ms [env.py: 1075] +05/12 03:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -0.946, -0.168) [env.py: 1079] +05/12 03:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/12 03:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 03:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:18:46 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 03:18:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 03:18:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.758[m] 88.746[deg] [grasp_sample.py: 539] +05/12 03:18:48 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:18:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:18:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:18:49 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 03:18:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.195s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:49 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.678[m] 83.709[deg] [grasp_sample.py: 539] +05/12 03:18:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:18:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:18:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:18:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:18:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:18:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:18:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187281m [env.py: 870] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:18:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18395055 -1.10827326 -0.18728066] yaw=-28.9deg [env.py: 1019] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31046729 -0.84425764 -0.18728066] yaw=-56.3deg [env.py: 1019] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:18:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms [env.py: 1075] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -1.108, -0.187) [env.py: 1079] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.9 deg [env.py: 1082] +05/12 03:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:18:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:18:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:18:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:18:50 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 03:18:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:18:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:18:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:18:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:18:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:18:53 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.706[m] 79.640[deg] [grasp_sample.py: 539] +05/12 03:18:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:18:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:18:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:19:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:19:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:19:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.51s (batch: 3.48s, save: 9.03s) [pipeline.py: 300] +05/12 03:19:02 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=3.80s: + episode_total: mean=32.66s, total=228.63s, count=7, min=233.1ms, max=140006.9ms + sensor_polling: mean=341.3ms, total=148.47s, count=435, min=300.0ms, max=609.5ms + physics_step: mean=21.6ms, total=9.38s, count=435, min=15.1ms, max=36.1ms + save_trajectories: mean=9.03s, total=9.03s, count=1, min=9031.2ms, max=9031.2ms + task_specific_sample: mean=573.8ms, total=4.02s, count=7, min=229.5ms, max=947.6ms + task_sampling: mean=634.1ms, total=3.80s, count=6, min=439.8ms, max=951.5ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3477.6ms, max=3477.6ms + task_sampling_failed: mean=233.0ms, total=233.0ms, count=1, min=233.0ms, max=233.0ms + scene_randomize: mean=1.4ms, total=9.7ms, count=7, min=1.0ms, max=2.7ms + mj_forward_sync: mean=464.4us, total=3.3ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=11.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:19:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:19:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:19:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:19:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:19:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:19:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:19:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122586m [env.py: 870] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:19:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2538632 -0.96074173 -0.12258598] yaw=-37.0deg [env.py: 1019] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:19:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=393.6ms, total=393.6ms [env.py: 1075] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -0.961, -0.123) [env.py: 1079] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.0 deg [env.py: 1082] +05/12 03:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m [env.py: 1086] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:19:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:19:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:19:04 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 03:19:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 03:19:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:19:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:19:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:19:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.603s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:19:06 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:19:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:19:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:19:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:19:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:19:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:19:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:19:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126342m [env.py: 870] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:19:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48041452 -0.84134542 -0.12634226] yaw=-72.6deg [env.py: 1019] +05/12 03:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1075] +05/12 03:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.841, -0.126) [env.py: 1079] +05/12 03:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 03:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 03:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:19:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:19:08 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 03:19:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 03:19:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:19:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:19:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:19:27 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:19:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 26.764s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:19:35 INFO: [Worker 0] Feasible grasp found 179 (originally 179): w/ 0.787[m] 104.588[deg] [grasp_sample.py: 539] +05/12 03:19:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:19:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:19:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:19:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:19:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:19:48 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 03:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:19:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:19:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:19:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:19:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:19:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 418 non-colliding grasps [grasp_sample.py: 465] +05/12 03:19:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:19:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.446s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:19:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.045[m] 2.962[deg] [grasp_sample.py: 539] +05/12 03:19:53 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:19:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:19:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:19:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:19:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:19:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:19:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:19:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157685m [env.py: 870] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:19:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37669409 -1.17120448 -0.15768517] yaw=-38.1deg [env.py: 1019] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18538202 -1.0469545 -0.15768517] yaw=-35.8deg [env.py: 1019] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:19:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.5ms [env.py: 1075] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.171, -0.158) [env.py: 1079] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/12 03:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:19:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:19:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:19:55 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 03:19:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:19:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:19:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:19:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:19:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:20:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.670s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:20:00 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.630[m] 83.863[deg] [grasp_sample.py: 539] +05/12 03:20:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:20:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:20:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:20:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:20:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:20:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:20:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.20s (batch: 3.40s, save: 9.80s) [pipeline.py: 300] +05/12 03:20:01 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.95s: + episode_total: mean=35.00s, total=175.01s, count=5, min=175.0ms, max=160942.8ms + sensor_polling: mean=379.1ms, total=110.31s, count=291, min=330.6ms, max=629.9ms + save_trajectories: mean=9.80s, total=9.80s, count=1, min=9801.5ms, max=9801.5ms + physics_step: mean=22.8ms, total=6.64s, count=291, min=14.7ms, max=79.6ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3398.7ms, max=3398.7ms + task_specific_sample: mean=421.6ms, total=2.11s, count=5, min=171.5ms, max=665.3ms + task_sampling: mean=486.9ms, total=1.95s, count=4, min=370.4ms, max=668.1ms + task_sampling_failed: mean=175.0ms, total=175.0ms, count=1, min=175.0ms, max=175.0ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=0.9ms, max=2.5ms + mj_forward_sync: mean=442.2us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:20:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:20:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:20:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:20:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:20:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:20:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:20:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176854m [env.py: 870] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:20:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55902781 -0.82200653 -0.17685369] yaw=-69.1deg [env.py: 1019] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48896519 -0.79676598 -0.17685369] yaw=-62.6deg [env.py: 1019] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:20:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms [env.py: 1075] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.822, -0.177) [env.py: 1079] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 03:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:20:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:20:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:20:03 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 03:20:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 03:20:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:20:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:20:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:20:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.854s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:20:16 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.742[m] 98.776[deg] [grasp_sample.py: 539] +05/12 03:20:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:20:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:20:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:20:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:20:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:20:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:20:38 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:20:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:20:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:20:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:20:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:20:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:20:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:20:58 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 03:21:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:21:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:21:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.37s (batch: 3.57s, save: 8.81s) [pipeline.py: 300] +05/12 03:21:11 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=2.09s: + episode_total: mean=21.98s, total=153.86s, count=7, min=219.9ms, max=141548.0ms + sensor_polling: mean=349.5ms, total=96.47s, count=276, min=299.5ms, max=552.5ms + save_trajectories: mean=8.81s, total=8.81s, count=1, min=8805.9ms, max=8805.9ms + physics_step: mean=23.4ms, total=6.46s, count=276, min=15.2ms, max=32.2ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3568.2ms, max=3568.2ms + task_specific_sample: mean=368.8ms, total=2.58s, count=7, min=216.8ms, max=424.5ms + task_sampling: mean=417.6ms, total=2.09s, count=5, min=408.2ms, max=427.2ms + task_sampling_failed: mean=262.3ms, total=524.7ms, count=2, min=219.9ms, max=304.8ms + scene_randomize: mean=1.2ms, total=8.6ms, count=7, min=1.0ms, max=1.6ms + mj_forward_sync: mean=453.4us, total=3.2ms, count=7, min=0.4ms, max=0.7ms + policy_setup: mean=12.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:21:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137429m [env.py: 870] +05/12 03:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4708038 -0.95465378 -0.13742917] yaw=-69.0deg [env.py: 1019] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:21:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=418.7ms, total=418.8ms [env.py: 1075] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.955, -0.137) [env.py: 1079] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.0 deg [env.py: 1082] +05/12 03:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 03:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:21:13 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 03:21:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 03:21:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:21:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:21:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:21:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.537s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:21:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.719[m] 90.774[deg] [grasp_sample.py: 539] +05/12 03:21:17 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:21:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122808m [env.py: 870] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22471549 -1.14846941 -0.12280779] yaw=-32.7deg [env.py: 1019] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:21:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=175.2ms, total=175.3ms [env.py: 1075] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.225, -1.148, -0.123) [env.py: 1079] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg [env.py: 1082] +05/12 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:21:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:21:19 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 03:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:21:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:21:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:21:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:21:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:21:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.787s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:21:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.707[m] 81.430[deg] [grasp_sample.py: 539] +05/12 03:21:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:21:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:21:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:21:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:21:23 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188020m [env.py: 870] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.9ms, total=207.0ms [env.py: 1105] +05/12 03:21:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:21:24 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:21:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161875m [env.py: 870] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1644853 -0.99123002 -0.16187466] yaw=-41.2deg [env.py: 1019] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26586875 -1.1682414 -0.16187466] yaw=-32.4deg [env.py: 1019] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.4ms [env.py: 1075] +05/12 03:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.164, -0.991, -0.162) [env.py: 1079] +05/12 03:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/12 03:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 03:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:21:26 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 03:21:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:21:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:21:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:21:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:21:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.627s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:21:28 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:21:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107030m [env.py: 870] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.3ms, total=208.3ms [env.py: 1105] +05/12 03:21:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:21:29 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:21:29 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:21:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198655m [env.py: 870] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53329498 -0.75628372 -0.19865489] yaw=-59.7deg [env.py: 1019] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:21:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.9ms [env.py: 1075] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.533, -0.756, -0.199) [env.py: 1079] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 03:21:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:21:31 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 03:21:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:21:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:21:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:21:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:21:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.826s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:21:33 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116818m [env.py: 870] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33793801 -1.07811033 -0.11681756] yaw=-45.3deg [env.py: 1019] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21709858 -0.9525289 -0.11681756] yaw=-39.5deg [env.py: 1019] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.5ms, total=211.6ms [env.py: 1075] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.078, -0.117) [env.py: 1079] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 03:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:21:34 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 03:21:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 03:21:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:21:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:21:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:21:36 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:21:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.785s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:21:44 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.690[m] 94.802[deg] [grasp_sample.py: 539] +05/12 03:21:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:21:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:21:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:21:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:21:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 25.415s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:21:48 INFO: [Worker 0] Feasible grasp found 259 (originally 259): w/ 0.147[m] 18.823[deg] [grasp_sample.py: 539] +05/12 03:21:49 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:21:50 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:21:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:21:50 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 03:21:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:21:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:21:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:21:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:21:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:21:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150354m [env.py: 870] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:21:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48350799 -0.89852616 -0.15035416] yaw=-69.8deg [env.py: 1019] +05/12 03:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:21:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=490.5ms, total=490.6ms [env.py: 1075] +05/12 03:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.899, -0.150) [env.py: 1079] +05/12 03:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg [env.py: 1082] +05/12 03:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 03:21:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:21:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:21:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:21:51 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 03:21:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 03:21:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:21:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:21:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:21:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.566s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:21:54 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.705[m] 87.945[deg] [grasp_sample.py: 539] +05/12 03:21:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:21:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:21:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:21:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:21:55 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:21:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:21:55 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 03:22:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:22:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:22:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.57s (batch: 3.83s, save: 9.74s) [pipeline.py: 300] +05/12 03:22:04 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=1.13s: + episode_total: mean=89.63s, total=179.26s, count=2, min=2502.1ms, max=176755.9ms + sensor_polling: mean=362.5ms, total=104.75s, count=289, min=294.3ms, max=748.3ms + save_trajectories: mean=9.74s, total=9.74s, count=1, min=9743.3ms, max=9743.3ms + physics_step: mean=23.5ms, total=6.80s, count=289, min=14.9ms, max=57.8ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.8ms, max=3829.8ms + task_sampling: mean=566.7ms, total=1.13s, count=2, min=419.7ms, max=713.8ms + task_specific_sample: mean=563.7ms, total=1.13s, count=2, min=417.1ms, max=710.3ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=0.9ms, max=2.3ms + mj_forward_sync: mean=369.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:22:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:22:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:22:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:22:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:22:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:22:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:22:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194708m [env.py: 870] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:22:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16759001 -0.96925881 -0.19470765] yaw=-54.5deg [env.py: 1019] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:22:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.0ms, total=220.1ms [env.py: 1075] +05/12 03:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -0.969, -0.195) [env.py: 1079] +05/12 03:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 03:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 03:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:22:06 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 03:22:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 03:22:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:22:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:22:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:22:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:22:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:22:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.14s (batch: 2.87s, save: 8.26s) [pipeline.py: 300] +05/12 03:22:07 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=1.69s: + episode_total: mean=70.02s, total=210.06s, count=3, min=9807.3ms, max=132078.1ms + sensor_polling: mean=335.7ms, total=134.60s, count=401, min=302.8ms, max=691.2ms + physics_step: mean=21.9ms, total=8.77s, count=401, min=15.5ms, max=58.4ms + save_trajectories: mean=8.26s, total=8.26s, count=1, min=8262.2ms, max=8262.2ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2873.4ms, max=2873.4ms + task_sampling: mean=563.9ms, total=1.69s, count=3, min=426.1ms, max=639.2ms + task_specific_sample: mean=560.9ms, total=1.68s, count=3, min=424.0ms, max=636.6ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.0ms, max=2.9ms + mj_forward_sync: mean=472.3us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=14.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:22:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.583s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:22:08 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:22:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:22:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:22:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:22:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:22:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:22:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163949m [env.py: 870] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:22:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52948648 -0.96506313 -0.1639488 ] yaw=-60.6deg [env.py: 1019] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:22:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=206.9ms [env.py: 1075] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.965, -0.164) [env.py: 1079] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg [env.py: 1082] +05/12 03:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:22:09 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 03:22:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 03:22:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:22:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:22:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:22:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:22:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:22:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:22:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:22:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:22:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196280m [env.py: 870] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:22:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.6ms, total=196.6ms [env.py: 1105] +05/12 03:22:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:22:09 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:22:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.622s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:22:10 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.644[m] 88.069[deg] [grasp_sample.py: 539] +05/12 03:22:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:22:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:22:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:22:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:22:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:22:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:22:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134856m [env.py: 870] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:22:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:22:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:22:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=269.3ms, total=269.3ms [env.py: 1105] +05/12 03:22:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:22:11 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:22:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:22:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:22:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:22:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:22:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:22:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:22:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:22:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135122m [env.py: 870] +05/12 03:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:22:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5121639 -0.94304983 -0.13512237] yaw=-50.3deg [env.py: 1019] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31296535 -1.07858475 -0.13512237] yaw=-42.8deg [env.py: 1019] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:22:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=410.2ms, total=410.2ms [env.py: 1075] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -0.943, -0.135) [env.py: 1079] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 03:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 03:22:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:22:13 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 03:22:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:22:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:22:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:22:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:22:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.738s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:22:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 83.958[deg] [grasp_sample.py: 539] +05/12 03:22:17 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:22:17 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 03:22:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:22:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:22:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:22:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:22:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:22:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112450m [env.py: 870] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:22:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47079662 -0.795103 -0.11245004] yaw=-55.7deg [env.py: 1019] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42778721 -0.82665159 -0.11245004] yaw=-66.6deg [env.py: 1019] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21083345 -1.16881183 -0.11245004] yaw=-37.6deg [env.py: 1019] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:22:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=124.8ms, total=124.8ms [env.py: 1075] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.795, -0.112) [env.py: 1079] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/12 03:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:22:18 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 03:22:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 03:22:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:22:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:22:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:22:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.660s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:22:20 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:22:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:22:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:22:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:22:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162589m [env.py: 870] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41813486 -1.06750197 -0.16258903] yaw=-45.8deg [env.py: 1019] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:22:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1075] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.068, -0.163) [env.py: 1079] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/12 03:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:22:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:22:22 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 03:22:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 03:22:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:22:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:22:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:22:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.457s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:22:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.669[m] 87.912[deg] [grasp_sample.py: 539] +05/12 03:22:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:22:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:22:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:22:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:22:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:22:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:22:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:23:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:23:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:23:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:23:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:23:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:23:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:23:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.140s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:23:10 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.133[m] 18.711[deg] [grasp_sample.py: 539] +05/12 03:23:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:23:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:23:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:23:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:23:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:23:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:23:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:23:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:23:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:23:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 387 non-colliding grasps [grasp_sample.py: 465] +05/12 03:23:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:23:16 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.048[m] 4.825[deg] [grasp_sample.py: 539] +05/12 03:23:17 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:23:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:23:17 INFO: [Worker 0] Feasible grasp found 265 (originally 265): w/ 0.311[m] 27.550[deg] [grasp_sample.py: 539] +05/12 03:23:18 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:23:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:23:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:23:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:23:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:23:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:23:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:23:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195175m [env.py: 870] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:23:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.9ms, total=209.0ms [env.py: 1105] +05/12 03:23:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:23:19 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:23:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:23:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:23:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:23:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:23:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:23:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168631m [env.py: 870] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:23:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.0ms, total=205.1ms [env.py: 1105] +05/12 03:23:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:23:20 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:23:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:23:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:23:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:23:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:23:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:23:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149781m [env.py: 870] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:23:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51053981 -1.04471204 -0.149781 ] yaw=-53.8deg [env.py: 1019] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:23:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.3ms, total=228.3ms [env.py: 1075] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -1.045, -0.150) [env.py: 1079] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 03:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:23:20 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 03:23:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:23:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:23:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:23:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:23:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:23:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:23:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:23:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:23:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:23:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111310m [env.py: 870] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:23:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:23:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:23:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.659[m] 83.701[deg] [grasp_sample.py: 539] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43542607 -0.83781176 -0.11130997] yaw=-53.5deg [env.py: 1019] +05/12 03:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=200.0ms, total=200.1ms [env.py: 1075] +05/12 03:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -0.838, -0.111) [env.py: 1079] +05/12 03:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 03:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 03:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:23:22 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 03:23:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 03:23:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:23:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:23:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:23:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:23:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:23:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.540s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:23:24 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:23:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:23:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:23:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:23:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:23:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:23:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178643m [env.py: 870] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:23:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=285.8ms, total=285.9ms [env.py: 1105] +05/12 03:23:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:23:25 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:23:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:23:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:23:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:23:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:23:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:23:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:23:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126811m [env.py: 870] +05/12 03:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:23:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4508579 -0.9667245 -0.12681075] yaw=-47.0deg [env.py: 1019] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:23:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=369.1ms, total=369.1ms [env.py: 1075] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.967, -0.127) [env.py: 1079] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 03:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:23:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:23:27 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 03:23:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:23:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:23:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:23:28 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:23:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:23:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.702[m] 85.694[deg] [grasp_sample.py: 539] +05/12 03:23:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:23:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:23:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:23:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:23:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:23:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:23:48 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 03:24:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:24:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:24:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.27s (batch: 3.28s, save: 8.99s) [pipeline.py: 300] +05/12 03:24:01 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=2.30s: + episode_total: mean=23.00s, total=161.00s, count=7, min=215.1ms, max=147005.8ms + sensor_polling: mean=341.4ms, total=94.23s, count=276, min=300.1ms, max=554.1ms + save_trajectories: mean=8.99s, total=8.99s, count=1, min=8988.5ms, max=8988.5ms + physics_step: mean=23.0ms, total=6.35s, count=276, min=14.8ms, max=73.1ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3279.9ms, max=3279.9ms + task_specific_sample: mean=387.6ms, total=2.71s, count=7, min=211.7ms, max=659.5ms + task_sampling: mean=460.3ms, total=2.30s, count=5, min=376.3ms, max=663.1ms + task_sampling_failed: mean=215.6ms, total=431.3ms, count=2, min=215.1ms, max=216.2ms + scene_randomize: mean=1.2ms, total=8.7ms, count=7, min=1.0ms, max=2.5ms + mj_forward_sync: mean=419.4us, total=2.9ms, count=7, min=0.4ms, max=0.5ms + policy_setup: mean=12.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:24:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:24:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:24:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:24:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:24:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:24:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:24:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150125m [env.py: 870] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:24:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46744476 -1.0307049 -0.15012548] yaw=-54.8deg [env.py: 1019] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46456183 -0.9406092 -0.15012548] yaw=-50.0deg [env.py: 1019] +05/12 03:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:24:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms [env.py: 1075] +05/12 03:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -1.031, -0.150) [env.py: 1079] +05/12 03:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/12 03:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 03:24:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:24:03 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 03:24:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 03:24:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.683[m] 78.683[deg] [grasp_sample.py: 539] +05/12 03:24:06 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:24:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:24:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:24:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:24:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:24:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:24:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134836m [env.py: 870] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:24:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64825925 -0.89644614 -0.13483572] yaw=-68.7deg [env.py: 1019] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29492828 -1.08587623 -0.13483572] yaw=-34.8deg [env.py: 1019] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:24:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.5ms, total=176.5ms [env.py: 1075] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.648, -0.896, -0.135) [env.py: 1079] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg [env.py: 1082] +05/12 03:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:24:07 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 03:24:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:24:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.955s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:10 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.750[m] 93.006[deg] [grasp_sample.py: 539] +05/12 03:24:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:24:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:24:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:13 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:24:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:24:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:24:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.534s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.169[m] 16.052[deg] [grasp_sample.py: 539] +05/12 03:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:24:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:24:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:34 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:24:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:24:34 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 03:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:38 INFO: [Worker 0] Object is not in grasp! 0.00092 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:24:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:24:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:24:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:24:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:38 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.590[deg] [grasp_sample.py: 539] +05/12 03:24:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:24:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:24:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:24:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.169[m] 16.050[deg] [grasp_sample.py: 539] +05/12 03:24:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:24:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:24:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.481s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:42 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.547[m] 63.836[deg] [grasp_sample.py: 539] +05/12 03:24:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:24:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:24:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:24:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:24:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.98s (batch: 3.26s, save: 8.72s) [pipeline.py: 300] +05/12 03:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:47 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=1.91s: + episode_total: mean=25.76s, total=154.55s, count=6, min=206.1ms, max=145539.7ms + sensor_polling: mean=369.3ms, total=99.33s, count=269, min=306.7ms, max=619.9ms + save_trajectories: mean=8.72s, total=8.72s, count=1, min=8722.2ms, max=8722.2ms + physics_step: mean=23.8ms, total=6.41s, count=269, min=14.8ms, max=64.8ms + save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3261.8ms, max=3261.8ms + task_specific_sample: mean=395.4ms, total=2.37s, count=6, min=202.5ms, max=674.4ms + task_sampling: mean=476.7ms, total=1.91s, count=4, min=349.1ms, max=676.4ms + task_sampling_failed: mean=241.4ms, total=482.7ms, count=2, min=206.0ms, max=276.7ms + scene_randomize: mean=1.3ms, total=7.6ms, count=6, min=0.9ms, max=2.6ms + mj_forward_sync: mean=418.8us, total=2.5ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:24:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:24:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:24:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:24:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:24:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:24:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118115m [env.py: 870] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:24:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18117411 -0.98858733 -0.11811523] yaw=-40.4deg [env.py: 1019] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:24:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=207.0ms [env.py: 1075] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -0.989, -0.118) [env.py: 1079] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg [env.py: 1082] +05/12 03:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:24:49 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 03:24:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 03:24:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:24:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:24:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.696s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:24:51 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:24:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.504s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.169[m] 16.050[deg] [grasp_sample.py: 539] +05/12 03:24:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:24:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:24:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:24:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:24:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:24:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:24:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:24:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114161m [env.py: 870] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:24:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22553412 -1.12949994 -0.11416083] yaw=-50.5deg [env.py: 1019] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25789842 -1.20969199 -0.11416083] yaw=-42.2deg [env.py: 1019] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:24:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=360.8ms, total=360.9ms [env.py: 1075] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.129, -0.114) [env.py: 1079] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/12 03:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:24:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:24:53 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 03:24:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 03:24:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.082s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:55 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.759[m] 93.537[deg] [grasp_sample.py: 539] +05/12 03:24:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:24:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:24:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:24:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:24:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:24:59 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:24:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:24:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:24:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:24:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 383 non-colliding grasps [grasp_sample.py: 465] +05/12 03:24:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.377s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:24:59 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.616[deg] [grasp_sample.py: 539] +05/12 03:24:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:25:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:25:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:25:07 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:25:07 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:25:07 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=False episode_total=2.24s: + episode_total: mean=49.60s, total=297.60s, count=6, min=213.3ms, max=106022.2ms + sensor_polling: mean=389.6ms, total=167.12s, count=429, min=304.6ms, max=617.9ms + physics_step: mean=21.9ms, total=9.41s, count=429, min=13.2ms, max=33.2ms + task_specific_sample: mean=455.0ms, total=2.73s, count=6, min=209.7ms, max=734.2ms + task_sampling: mean=560.2ms, total=2.24s, count=4, min=446.9ms, max=737.2ms + task_sampling_failed: mean=253.5ms, total=507.1ms, count=2, min=213.3ms, max=293.8ms + scene_randomize: mean=1.2ms, total=7.1ms, count=6, min=1.0ms, max=1.8ms + mj_forward_sync: mean=461.9us, total=2.8ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:25:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:25:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:25:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:25:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:25:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:25:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:25:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:25:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121133m [env.py: 870] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:25:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.58099687 -0.82998843 -0.12113341] yaw=-71.1deg [env.py: 1019] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:25:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=525.4ms, total=525.5ms [env.py: 1075] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.830, -0.121) [env.py: 1079] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/12 03:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:25:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:25:10 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 03:25:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 03:25:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:25:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:25:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:25:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:25:18 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:25:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:25:20 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.768[m] 96.305[deg] [grasp_sample.py: 539] +05/12 03:25:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:25:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:25:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:25:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:25:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:25:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:25:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:25:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.582s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:25:37 INFO: [Worker 0] Feasible grasp found 29 (originally 29): w/ 0.151[m] 17.332[deg] [grasp_sample.py: 539] +05/12 03:25:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:25:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:25:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:25:39 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:25:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:25:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:25:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:25:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:25:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.67s (batch: 3.12s, save: 10.55s) [pipeline.py: 300] +05/12 03:25:53 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.92s: + episode_total: mean=74.06s, total=222.17s, count=3, min=217.6ms, max=152985.2ms + sensor_polling: mean=339.7ms, total=155.91s, count=459, min=300.4ms, max=739.7ms + save_trajectories: mean=10.55s, total=10.55s, count=1, min=10545.8ms, max=10545.8ms + physics_step: mean=22.3ms, total=10.25s, count=459, min=15.1ms, max=47.5ms + save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3121.5ms, max=3121.5ms + task_specific_sample: mean=377.0ms, total=1.13s, count=3, min=213.8ms, max=476.7ms + task_sampling: mean=462.3ms, total=924.5ms, count=2, min=444.5ms, max=480.1ms + task_sampling_failed: mean=217.6ms, total=217.6ms, count=1, min=217.6ms, max=217.6ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=454.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=16.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:25:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:25:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:25:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:25:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:25:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:25:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161612m [env.py: 870] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:25:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.7ms, total=218.8ms [env.py: 1105] +05/12 03:25:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:25:54 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:25:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:25:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:25:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:25:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:25:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:25:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:25:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:25:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:25:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:25:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:25:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185102m [env.py: 870] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:25:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1105] +05/12 03:25:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:25:56 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:25:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:25:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:25:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:25:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:25:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:25:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:25:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104581m [env.py: 870] +05/12 03:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:25:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28013747 -1.07197521 -0.10458135] yaw=-53.4deg [env.py: 1019] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50725765 -0.78952691 -0.10458135] yaw=-75.3deg [env.py: 1019] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44971033 -0.86401975 -0.10458135] yaw=-71.1deg [env.py: 1019] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:25:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.5ms, total=206.5ms [env.py: 1075] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.072, -0.105) [env.py: 1079] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 03:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/12 03:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:25:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.788s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:25:58 INFO: [Worker 0] Feasible grasp found 29 (originally 29): w/ 0.091[m] 8.725[deg] [grasp_sample.py: 539] +05/12 03:25:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:25:58 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 03:25:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 03:25:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:25:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:25:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:25:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:25:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:25:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.005s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.765[m] 91.687[deg] [grasp_sample.py: 539] +05/12 03:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:02 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123582m [env.py: 870] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1105] +05/12 03:26:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:04 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186388m [env.py: 870] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20804127 -1.13729723 -0.186388 ] yaw=-49.2deg [env.py: 1019] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34900777 -0.90603733 -0.186388 ] yaw=-46.8deg [env.py: 1019] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52797592 -1.01195867 -0.186388 ] yaw=-68.2deg [env.py: 1019] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.3ms, total=188.4ms [env.py: 1075] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.137, -0.186) [env.py: 1079] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 03:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:05 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.720[m] 90.617[deg] [grasp_sample.py: 539] +05/12 03:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:26:10 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:26:10 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:26:10 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=0.91s: + episode_total: mean=63.30s, total=126.60s, count=2, min=3425.9ms, max=123174.3ms + sensor_polling: mean=335.7ms, total=63.45s, count=189, min=299.9ms, max=539.7ms + physics_step: mean=20.9ms, total=3.95s, count=189, min=13.6ms, max=32.8ms + task_sampling: mean=456.7ms, total=913.5ms, count=2, min=445.8ms, max=467.6ms + task_specific_sample: mean=453.9ms, total=907.9ms, count=2, min=443.2ms, max=464.7ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.0ms, max=1.8ms + mj_forward_sync: mean=418.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:26:10 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193837m [env.py: 870] +05/12 03:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134889m [env.py: 870] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18478401 -1.08578377 -0.19383712] yaw=-41.7deg [env.py: 1019] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms [env.py: 1075] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.185, -1.086, -0.194) [env.py: 1079] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg [env.py: 1082] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=378.1ms, total=378.2ms [env.py: 1105] +05/12 03:26:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:12 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:12 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101097m [env.py: 870] +05/12 03:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25153623 -1.05256376 -0.1010971 ] yaw=-45.6deg [env.py: 1019] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=656.5ms, total=656.6ms [env.py: 1075] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.053, -0.101) [env.py: 1079] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/12 03:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 03:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:14 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.797s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:15 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.712[m] 73.567[deg] [grasp_sample.py: 539] +05/12 03:26:16 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193427m [env.py: 870] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.6ms, total=198.6ms [env.py: 1105] +05/12 03:26:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:18 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.661s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:18 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.754[m] 82.073[deg] [grasp_sample.py: 539] +05/12 03:26:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117323m [env.py: 870] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:19 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21054834 -1.14916035 -0.11732347] yaw=-45.8deg [env.py: 1019] +05/12 03:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=633.3ms, total=633.3ms [env.py: 1075] +05/12 03:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -1.149, -0.117) [env.py: 1079] +05/12 03:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/12 03:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 03:26:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:20 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161756m [env.py: 870] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32663576 -1.19865702 -0.16175606] yaw=-51.2deg [env.py: 1019] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.7ms [env.py: 1075] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -1.199, -0.162) [env.py: 1079] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 03:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:21 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.648s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:22 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.723[m] 81.865[deg] [grasp_sample.py: 539] +05/12 03:26:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:23 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.627[m] 83.382[deg] [grasp_sample.py: 539] +05/12 03:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:26:23 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:24 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101886m [env.py: 870] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30232135 -0.94990774 -0.10188592] yaw=-57.3deg [env.py: 1019] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.6ms, total=205.7ms [env.py: 1075] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -0.950, -0.102) [env.py: 1079] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 03:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:24 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120556m [env.py: 870] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47539886 -1.02440147 -0.1205557 ] yaw=-66.3deg [env.py: 1019] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.6ms, total=210.7ms [env.py: 1075] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -1.024, -0.121) [env.py: 1079] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 03:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:25 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.497s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:26:26 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:26:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.749s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:27 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.143[m] 14.585[deg] [grasp_sample.py: 539] +05/12 03:26:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.671[m] 92.660[deg] [grasp_sample.py: 539] +05/12 03:26:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110172m [env.py: 870] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.4ms, total=200.4ms [env.py: 1105] +05/12 03:26:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:28 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:28 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:28 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 03:26:28 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197974m [env.py: 870] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113204m [env.py: 870] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.8ms, total=231.8ms [env.py: 1105] +05/12 03:26:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:29 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=316.2ms, total=316.2ms [env.py: 1105] +05/12 03:26:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:29 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162796m [env.py: 870] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=404.9ms, total=404.9ms [env.py: 1105] +05/12 03:26:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:30 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163147m [env.py: 870] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34397483 -0.97510922 -0.16314733] yaw=-56.7deg [env.py: 1019] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=173.1ms, total=173.1ms [env.py: 1075] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -0.975, -0.163) [env.py: 1079] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:31 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151493m [env.py: 870] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164725m [env.py: 870] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56083541 -1.02452296 -0.16472453] yaw=-65.8deg [env.py: 1019] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39958368 -1.12461077 -0.16472453] yaw=-39.8deg [env.py: 1019] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62246374 -0.84337586 -0.16472453] yaw=-60.4deg [env.py: 1019] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=424.7ms, total=424.7ms [env.py: 1075] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -1.025, -0.165) [env.py: 1079] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/12 03:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 03:26:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=754.7ms, total=754.8ms [env.py: 1105] +05/12 03:26:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:26:32 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:26:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:32 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.690s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.638[m] 88.413[deg] [grasp_sample.py: 539] +05/12 03:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:26:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.005s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.751[m] 94.413[deg] [grasp_sample.py: 539] +05/12 03:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:26:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:26:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138562m [env.py: 870] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40242199 -0.94968066 -0.138562 ] yaw=-47.8deg [env.py: 1019] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42040512 -1.12308854 -0.138562 ] yaw=-40.5deg [env.py: 1019] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:26:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:26:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=446.2ms, total=446.2ms [env.py: 1075] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -0.950, -0.139) [env.py: 1079] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/12 03:26:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 03:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:34 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:26:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:36 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.770[m] 88.392[deg] [grasp_sample.py: 539] +05/12 03:26:37 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:26:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:26:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:26:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:26:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:26:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:26:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191306m [env.py: 870] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:26:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29567421 -1.02461097 -0.19130645] yaw=-57.6deg [env.py: 1019] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33035261 -0.9815208 -0.19130645] yaw=-42.0deg [env.py: 1019] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:26:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=333.8ms, total=333.8ms [env.py: 1075] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.025, -0.191) [env.py: 1079] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 03:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:26:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:26:39 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 03:26:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:26:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:26:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:26:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:26:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.839s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:26:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.728[m] 86.249[deg] [grasp_sample.py: 539] +05/12 03:26:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:26:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:26:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:26:50 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:27:13 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:27:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:27:13 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 03:27:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:27:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:27:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.25s (batch: 3.86s, save: 9.39s) [pipeline.py: 300] +05/12 03:27:27 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=1.02s: + episode_total: mean=78.70s, total=157.40s, count=2, min=2326.9ms, max=155077.9ms + sensor_polling: mean=368.6ms, total=105.42s, count=286, min=304.2ms, max=778.6ms + save_trajectories: mean=9.39s, total=9.39s, count=1, min=9391.1ms, max=9391.1ms + physics_step: mean=24.2ms, total=6.91s, count=286, min=19.4ms, max=76.0ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.3ms, max=3859.3ms + task_sampling: mean=512.2ms, total=1.02s, count=2, min=448.5ms, max=576.0ms + task_specific_sample: mean=508.9ms, total=1.02s, count=2, min=444.8ms, max=573.0ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms + mj_forward_sync: mean=497.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=12.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:27:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:27:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:27:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:27:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:27:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:27:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:27:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:27:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:27:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:27:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132633m [env.py: 870] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:27:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54393721 -0.83508552 -0.13263262] yaw=-76.0deg [env.py: 1019] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64496169 -0.94791971 -0.13263262] yaw=-79.6deg [env.py: 1019] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17327965 -1.06351413 -0.13263262] yaw=-33.3deg [env.py: 1019] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:27:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=324.7ms, total=324.8ms [env.py: 1075] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -0.835, -0.133) [env.py: 1079] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.0 deg [env.py: 1082] +05/12 03:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 03:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:27:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:27:29 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 03:27:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 03:27:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:27:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:27:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:27:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.716s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:27:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.764[m] 80.212[deg] [grasp_sample.py: 539] +05/12 03:27:33 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:27:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:27:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:27:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:27:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:27:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:27:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:27:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:27:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:27:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194856m [env.py: 870] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:27:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=252.0ms, total=252.0ms [env.py: 1105] +05/12 03:27:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:27:34 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:27:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:27:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:27:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:27:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175623m [env.py: 870] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2337942 -1.17934159 -0.17562341] yaw=-40.5deg [env.py: 1019] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=267.8ms, total=267.9ms [env.py: 1075] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -1.179, -0.176) [env.py: 1079] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg [env.py: 1082] +05/12 03:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:27:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:27:36 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 03:27:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 03:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:27:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:27:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:27:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:27:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.646[m] 89.354[deg] [grasp_sample.py: 539] +05/12 03:27:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:27:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:27:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:27:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:27:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:27:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:27:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:27:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:27:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/12 03:27:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.382s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:27:42 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.702[deg] [grasp_sample.py: 539] +05/12 03:27:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:27:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:27:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:27:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:27:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:27:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:27:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:27:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:27:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:27:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 324 non-colliding grasps [grasp_sample.py: 465] +05/12 03:27:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:27:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.041[m] 1.441[deg] [grasp_sample.py: 539] +05/12 03:27:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:27:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:27:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:28:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:20 INFO: [Worker 0] Object is not in grasp! 0.00176 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:28:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:28:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:28:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 03:28:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.330s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:28:20 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.605[deg] [grasp_sample.py: 539] +05/12 03:28:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:28:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:28:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:27 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:28:28 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:28:28 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=3.27s: + episode_total: mean=12.79s, total=140.64s, count=11, min=213.0ms, max=116878.7ms + sensor_polling: mean=342.2ms, total=102.67s, count=300, min=298.7ms, max=720.7ms + physics_step: mean=22.5ms, total=6.75s, count=300, min=14.9ms, max=48.1ms + task_specific_sample: mean=427.0ms, total=4.70s, count=11, min=210.0ms, max=870.8ms + task_sampling: mean=544.5ms, total=3.27s, count=6, min=393.1ms, max=872.8ms + task_sampling_failed: mean=292.9ms, total=1.46s, count=5, min=213.0ms, max=413.0ms + scene_randomize: mean=1.2ms, total=13.3ms, count=11, min=0.9ms, max=2.5ms + mj_forward_sync: mean=429.8us, total=4.7ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=13.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:28:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:28:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:28:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:28:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183204m [env.py: 870] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54925955 -0.95003825 -0.18320377] yaw=-73.3deg [env.py: 1019] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34008296 -0.99972109 -0.18320377] yaw=-48.8deg [env.py: 1019] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45989459 -0.97599075 -0.18320377] yaw=-47.9deg [env.py: 1019] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.6ms, total=231.7ms [env.py: 1075] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.950, -0.183) [env.py: 1079] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/12 03:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:28:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:28:30 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 03:28:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 03:28:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:28:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:28:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:28:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:28:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:28:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.644[m] 86.699[deg] [grasp_sample.py: 539] +05/12 03:28:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:28:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:28:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:34 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:28:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:28:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:28:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:28:48 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 03:28:49 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:28:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:28:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:28:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:28:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/12 03:28:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:28:50 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.053[m] 7.539[deg] [grasp_sample.py: 539] +05/12 03:28:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:28:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:28:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:28:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:28:54 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:28:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:28:54 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 03:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:28:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:29:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:29:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:29:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:29:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.76s (batch: 3.49s, save: 9.26s) [pipeline.py: 300] +05/12 03:29:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:01 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=2.12s: + episode_total: mean=23.10s, total=161.69s, count=7, min=207.2ms, max=150517.3ms + sensor_polling: mean=364.6ms, total=104.27s, count=286, min=299.2ms, max=715.6ms + save_trajectories: mean=9.26s, total=9.26s, count=1, min=9262.5ms, max=9262.5ms + physics_step: mean=24.0ms, total=6.86s, count=286, min=15.3ms, max=31.4ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3493.4ms, max=3493.4ms + task_specific_sample: mean=394.4ms, total=2.76s, count=7, min=203.2ms, max=859.1ms + task_sampling: mean=530.9ms, total=2.12s, count=4, min=342.5ms, max=861.0ms + task_sampling_failed: mean=218.8ms, total=656.5ms, count=3, min=207.2ms, max=240.1ms + scene_randomize: mean=1.1ms, total=7.6ms, count=7, min=0.9ms, max=1.6ms + mj_forward_sync: mean=410.2us, total=2.9ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:29:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:02 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.467[m] 57.681[deg] [grasp_sample.py: 539] +05/12 03:29:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:29:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:29:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:29:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:29:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:29:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:29:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120705m [env.py: 870] +05/12 03:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:29:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22204714 -1.10235925 -0.12070522] yaw=-31.3deg [env.py: 1019] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:29:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.2ms, total=200.2ms [env.py: 1075] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.102, -0.121) [env.py: 1079] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg [env.py: 1082] +05/12 03:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 03:29:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:29:03 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 03:29:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 03:29:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:03 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:29:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:29:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:29:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:29:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:29:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:29:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116829m [env.py: 870] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:29:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:04 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.773[m] 90.095[deg] [grasp_sample.py: 539] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.1ms, total=166.2ms [env.py: 1105] +05/12 03:29:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:29:05 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:29:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:29:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:29:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:29:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:29:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:29:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:29:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:29:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:29:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194813m [env.py: 870] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:29:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25461393 -1.13737672 -0.19481275] yaw=-37.2deg [env.py: 1019] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:29:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=204.3ms, total=204.3ms [env.py: 1075] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.137, -0.195) [env.py: 1079] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg [env.py: 1082] +05/12 03:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:29:06 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 03:29:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 03:29:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:29:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:29:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.00s (batch: 3.38s, save: 9.62s) [pipeline.py: 300] +05/12 03:29:08 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=2.10s: + episode_total: mean=46.65s, total=233.23s, count=5, min=327.0ms, max=149330.5ms + sensor_polling: mean=364.1ms, total=153.29s, count=421, min=306.1ms, max=714.7ms + save_trajectories: mean=9.62s, total=9.62s, count=1, min=9622.7ms, max=9622.7ms + physics_step: mean=22.0ms, total=9.25s, count=421, min=15.1ms, max=79.9ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3380.7ms, max=3380.7ms + task_specific_sample: mean=635.8ms, total=3.18s, count=5, min=322.5ms, max=784.5ms + task_sampling: mean=701.4ms, total=2.10s, count=3, min=533.2ms, max=787.3ms + task_sampling_failed: mean=545.2ms, total=1.09s, count=2, min=327.0ms, max=763.4ms + scene_randomize: mean=1.2ms, total=6.1ms, count=5, min=0.9ms, max=1.4ms + mj_forward_sync: mean=496.2us, total=2.5ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:29:09 INFO: [Worker 0] Object is not in grasp! 0.00128 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:29:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:29:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:29:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:29:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:29:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:29:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:29:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:29:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140598m [env.py: 870] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:29:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33671444 -1.10369805 -0.14059832] yaw=-46.6deg [env.py: 1019] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28186824 -1.07161376 -0.14059832] yaw=-34.1deg [env.py: 1019] +05/12 03:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=213.8ms, total=213.9ms [env.py: 1075] +05/12 03:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.104, -0.141) [env.py: 1079] +05/12 03:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 03:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 03:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:29:10 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 03:29:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 03:29:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.298s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:10 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.064[m] 10.849[deg] [grasp_sample.py: 539] +05/12 03:29:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:29:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:29:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.383s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.684[m] 86.492[deg] [grasp_sample.py: 539] +05/12 03:29:12 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:29:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:29:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:29:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:29:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:29:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:29:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100104m [env.py: 870] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:29:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.2ms, total=192.3ms [env.py: 1105] +05/12 03:29:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:29:14 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:29:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:29:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:29:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:29:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188488m [env.py: 870] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42877662 -0.93034542 -0.18848799] yaw=-52.2deg [env.py: 1019] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:29:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=163.8ms, total=163.8ms [env.py: 1075] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -0.930, -0.188) [env.py: 1079] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 03:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:29:16 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 03:29:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:29:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.695[m] 84.699[deg] [grasp_sample.py: 539] +05/12 03:29:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:29:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:29:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:29:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:29:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.599s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:22 INFO: [Worker 0] Feasible grasp found 240 (originally 240): w/ 0.662[m] 89.926[deg] [grasp_sample.py: 539] +05/12 03:29:23 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:29:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:29:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:29:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:29:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:29:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:29:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135457m [env.py: 870] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:29:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55065895 -1.03210875 -0.13545683] yaw=-67.6deg [env.py: 1019] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53657383 -1.01685804 -0.13545683] yaw=-51.7deg [env.py: 1019] +05/12 03:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32148885 -1.183511 -0.13545683] yaw=-45.5deg [env.py: 1019] +05/12 03:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:29:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.4ms, total=158.4ms [env.py: 1075] +05/12 03:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -1.032, -0.135) [env.py: 1079] +05/12 03:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg [env.py: 1082] +05/12 03:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 03:29:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:29:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:29:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:29:25 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 03:29:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 03:29:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.343s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:26 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.628[m] 90.149[deg] [grasp_sample.py: 539] +05/12 03:29:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:29:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:29:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:34 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:29:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:29:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:29:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:29:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:29:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.610s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:29:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 66.294[deg] [grasp_sample.py: 539] +05/12 03:29:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:29:55 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:29:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:29:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:29:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:29:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:30:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:30:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:30:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:30:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:30:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.526s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:30:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 66.295[deg] [grasp_sample.py: 539] +05/12 03:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:30:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:30:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:30:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:30:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:30:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.36s (batch: 3.48s, save: 9.88s) [pipeline.py: 300] +05/12 03:30:09 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=1.09s: + episode_total: mean=52.79s, total=158.37s, count=3, min=261.8ms, max=153496.2ms + sensor_polling: mean=339.5ms, total=101.84s, count=300, min=303.7ms, max=567.1ms + save_trajectories: mean=9.88s, total=9.88s, count=1, min=9879.5ms, max=9879.5ms + physics_step: mean=22.6ms, total=6.78s, count=300, min=15.2ms, max=63.8ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3479.8ms, max=3479.8ms + task_specific_sample: mean=446.2ms, total=1.34s, count=3, min=257.0ms, max=578.1ms + task_sampling: mean=543.8ms, total=1.09s, count=2, min=506.0ms, max=581.6ms + task_sampling_failed: mean=261.8ms, total=261.8ms, count=1, min=261.8ms, max=261.8ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.0ms, max=2.3ms + mj_forward_sync: mean=402.7us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:30:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:30:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:30:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:30:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:30:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:30:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167617m [env.py: 870] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:30:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40222332 -1.04439754 -0.1676172 ] yaw=-54.6deg [env.py: 1019] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:30:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms [env.py: 1075] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -1.044, -0.168) [env.py: 1079] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 03:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:30:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:30:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:30:11 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 03:30:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 03:30:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:30:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:30:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.141s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:30:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.674[m] 75.398[deg] [grasp_sample.py: 539] +05/12 03:30:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:30:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:30:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:30:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:30:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:30:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:30:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:30:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.557s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:30:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 66.295[deg] [grasp_sample.py: 539] +05/12 03:30:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:30:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:30:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:30:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:30:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:30:32 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:30:33 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:30:33 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=False episode_total=1.25s: + episode_total: mean=29.76s, total=119.03s, count=4, min=175.9ms, max=68406.1ms + sensor_polling: mean=344.1ms, total=40.60s, count=118, min=300.6ms, max=585.8ms + physics_step: mean=20.3ms, total=2.40s, count=118, min=13.2ms, max=33.0ms + task_specific_sample: mean=352.4ms, total=1.41s, count=4, min=170.7ms, max=448.1ms + task_sampling: mean=415.4ms, total=1.25s, count=3, min=363.3ms, max=450.4ms + task_sampling_failed: mean=175.9ms, total=175.9ms, count=1, min=175.9ms, max=175.9ms + scene_randomize: mean=1.1ms, total=4.6ms, count=4, min=0.9ms, max=1.5ms + mj_forward_sync: mean=369.0us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:30:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:30:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:30:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:30:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:30:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:30:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:30:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110442m [env.py: 870] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:30:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27709311 -0.86419655 -0.1104424 ] yaw=-51.2deg [env.py: 1019] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38123417 -0.90033978 -0.1104424 ] yaw=-53.3deg [env.py: 1019] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=253.9ms, total=253.9ms [env.py: 1075] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -0.864, -0.110) [env.py: 1079] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 03:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:30:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:30:35 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 03:30:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:30:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:30:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:30:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.299s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:30:36 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:30:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:30:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:30:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:30:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:30:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:30:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:30:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143182m [env.py: 870] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:30:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29118504 -1.22821555 -0.14318223] yaw=-44.2deg [env.py: 1019] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:30:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=259.7ms, total=259.8ms [env.py: 1075] +05/12 03:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.228, -0.143) [env.py: 1079] +05/12 03:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/12 03:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/12 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:30:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:30:38 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 03:30:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:30:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:30:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:30:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.040s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:00 INFO: [Worker 0] Feasible grasp found 533 (originally 533): w/ 0.663[m] 94.770[deg] [grasp_sample.py: 539] +05/12 03:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:31:01 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:31:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122489m [env.py: 870] +05/12 03:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29550599 -1.04052855 -0.12248924] yaw=-45.5deg [env.py: 1019] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:31:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=212.0ms [env.py: 1075] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.041, -0.122) [env.py: 1079] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 03:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 03:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:31:03 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 03:31:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 03:31:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:04 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:31:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.492s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.764[m] 93.407[deg] [grasp_sample.py: 539] +05/12 03:31:06 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:31:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:31:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192630m [env.py: 870] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.0ms, total=202.1ms [env.py: 1105] +05/12 03:31:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:31:07 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:31:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194394m [env.py: 870] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.5ms, total=197.6ms [env.py: 1105] +05/12 03:31:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:31:09 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:31:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107201m [env.py: 870] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1105] +05/12 03:31:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:31:10 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:31:12 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:31:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134840m [env.py: 870] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42606291 -0.88334748 -0.13484002] yaw=-47.0deg [env.py: 1019] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:31:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.7ms [env.py: 1075] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.883, -0.135) [env.py: 1079] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 03:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:31:12 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 03:31:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 03:31:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:31:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:31:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:31:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:31:26 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 03:31:31 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:31:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:31:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:31:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:31:31 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 03:31:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 338 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.478s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:33 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.125[m] 4.303[deg] [grasp_sample.py: 539] +05/12 03:31:34 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:31:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158435m [env.py: 870] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33207805 -1.06569057 -0.15843473] yaw=-52.7deg [env.py: 1019] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:31:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.8ms, total=177.8ms [env.py: 1075] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -1.066, -0.158) [env.py: 1079] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 03:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:31:35 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 03:31:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:31:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:31:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:31:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.69s (batch: 3.55s, save: 10.14s) [pipeline.py: 300] +05/12 03:31:40 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.44s: + episode_total: mean=157.96s, total=157.96s, count=1, min=157959.9ms, max=157959.9ms + sensor_polling: mean=374.7ms, total=110.18s, count=294, min=300.6ms, max=615.5ms + save_trajectories: mean=10.14s, total=10.14s, count=1, min=10138.4ms, max=10138.4ms + physics_step: mean=24.1ms, total=7.09s, count=294, min=15.0ms, max=41.9ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.7ms, max=3551.7ms + task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms + task_specific_sample: mean=434.3ms, total=434.3ms, count=1, min=434.3ms, max=434.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=421.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:31:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124898m [env.py: 870] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54230538 -0.81735601 -0.1248978 ] yaw=-63.6deg [env.py: 1019] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34294451 -0.96290316 -0.1248978 ] yaw=-56.4deg [env.py: 1019] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=349.2ms, total=349.3ms [env.py: 1075] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -0.817, -0.125) [env.py: 1079] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg [env.py: 1082] +05/12 03:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:31:42 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 03:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 03:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:31:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:31:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.55s (batch: 3.49s, save: 9.06s) [pipeline.py: 300] +05/12 03:31:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.044s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.694[m] 85.563[deg] [grasp_sample.py: 539] +05/12 03:31:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:31:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:31:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:31:44 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.81s: + episode_total: mean=50.80s, total=152.40s, count=3, min=200.7ms, max=149054.4ms + sensor_polling: mean=385.7ms, total=105.28s, count=273, min=319.8ms, max=618.6ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9063.1ms, max=9063.1ms + physics_step: mean=24.1ms, total=6.58s, count=273, min=19.5ms, max=66.9ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3491.8ms, max=3491.8ms + task_specific_sample: mean=332.8ms, total=998.4ms, count=3, min=197.1ms, max=457.2ms + task_sampling: mean=403.7ms, total=807.4ms, count=2, min=346.3ms, max=461.1ms + task_sampling_failed: mean=200.7ms, total=200.7ms, count=1, min=200.7ms, max=200.7ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=383.2us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:31:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:31:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154766m [env.py: 870] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64778922 -0.96314504 -0.15476607] yaw=-63.4deg [env.py: 1019] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:31:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=249.0ms, total=249.1ms [env.py: 1075] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.648, -0.963, -0.155) [env.py: 1079] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/12 03:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:31:46 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 03:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 03:31:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 33.957s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:46 INFO: [Worker 0] Feasible grasp found 152 (originally 152): w/ 0.791[m] 86.041[deg] [grasp_sample.py: 539] +05/12 03:31:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.573s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.647[m] 87.066[deg] [grasp_sample.py: 539] +05/12 03:31:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:31:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:31:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:31:48 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:31:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190222m [env.py: 870] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49333364 -0.85927312 -0.19022198] yaw=-55.1deg [env.py: 1019] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:31:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.1ms, total=217.1ms [env.py: 1075] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.859, -0.190) [env.py: 1079] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 03:31:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:31:49 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 03:31:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 03:31:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:31:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:51 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.746[m] 89.334[deg] [grasp_sample.py: 539] +05/12 03:31:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:31:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:31:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:31:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.881s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:31:54 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.800[m] 92.005[deg] [grasp_sample.py: 539] +05/12 03:31:55 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:31:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:31:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:31:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:31:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:31:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:31:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114340m [env.py: 870] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:31:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38528177 -0.97409492 -0.11434043] yaw=-46.6deg [env.py: 1019] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31686643 -1.21597693 -0.11434043] yaw=-45.3deg [env.py: 1019] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:31:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.7ms, total=236.8ms [env.py: 1075] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.974, -0.114) [env.py: 1079] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 03:31:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:31:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:31:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:31:57 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 03:31:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:31:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:31:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:31:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:32:02 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.769[m] 90.453[deg] [grasp_sample.py: 539] +05/12 03:32:03 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:32:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:32:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:32:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:32:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:32:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152306m [env.py: 870] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43043438 -0.99822837 -0.15230608] yaw=-57.3deg [env.py: 1019] +05/12 03:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:32:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.3ms, total=251.3ms [env.py: 1075] +05/12 03:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.998, -0.152) [env.py: 1079] +05/12 03:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 03:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 03:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:32:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:32:05 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 03:32:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:32:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:32:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:32:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.297s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:32:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.723[m] 86.390[deg] [grasp_sample.py: 539] +05/12 03:32:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:32:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:32:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:32:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:32:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:32:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:32:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:32:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.570s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:32:29 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.528[m] 68.246[deg] [grasp_sample.py: 539] +05/12 03:32:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:32:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:32:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:32:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:32:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:32:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:32:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:32:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:32:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:32:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:32:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:32:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:32:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:32:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.140s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:32:55 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.135[m] 14.104[deg] [grasp_sample.py: 539] +05/12 03:32:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:32:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:32:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:32:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:32:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:33:00 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.528[m] 68.247[deg] [grasp_sample.py: 539] +05/12 03:33:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:33:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:33:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:33:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:33:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:33:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.141s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:33:08 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.179[m] 7.497[deg] [grasp_sample.py: 539] +05/12 03:33:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:33:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:33:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:33:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:33:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:33:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.456s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:33:29 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.528[m] 68.247[deg] [grasp_sample.py: 539] +05/12 03:33:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:33:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:33:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:33:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:33:37 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:33:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:33:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:33:43 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:33:44 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=0.52s: + episode_total: mean=118.00s, total=118.00s, count=1, min=118000.1ms, max=118000.1ms + sensor_polling: mean=403.0ms, total=27.81s, count=69, min=326.2ms, max=501.9ms + physics_step: mean=19.7ms, total=1.36s, count=69, min=13.5ms, max=29.5ms + task_sampling: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms + task_specific_sample: mean=511.3ms, total=511.3ms, count=1, min=511.3ms, max=511.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=426.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:33:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:33:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:33:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:33:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:33:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:33:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:33:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190218m [env.py: 870] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:33:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60653196 -0.7435893 -0.19021811] yaw=-82.1deg [env.py: 1019] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:33:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.8ms, total=269.8ms [env.py: 1075] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.744, -0.190) [env.py: 1079] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.1 deg [env.py: 1082] +05/12 03:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:33:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:33:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:33:45 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 03:33:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 03:33:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:33:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:33:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:33:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.462s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:33:47 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:33:48 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:33:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:33:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:33:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:33:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:33:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:33:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:33:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156367m [env.py: 870] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:33:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42451972 -0.97455815 -0.15636718] yaw=-60.4deg [env.py: 1019] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:33:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=248.9ms, total=249.0ms [env.py: 1075] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.975, -0.156) [env.py: 1079] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 03:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:33:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:33:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:33:49 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 03:33:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 03:33:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:33:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:33:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:33:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:33:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.668[m] 90.412[deg] [grasp_sample.py: 539] +05/12 03:33:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:33:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:33:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:33:58 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:33:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:33:58 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 03:34:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:34:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:34:09 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 03:34:09 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:34:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:34:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:34:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.45s (batch: 3.73s, save: 9.72s) [pipeline.py: 300] +05/12 03:34:12 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.85s: + episode_total: mean=120.15s, total=240.30s, count=2, min=83208.5ms, max=157092.1ms + sensor_polling: mean=350.6ms, total=160.56s, count=458, min=297.3ms, max=603.5ms + physics_step: mean=22.8ms, total=10.46s, count=458, min=14.8ms, max=39.2ms + save_trajectories: mean=9.72s, total=9.72s, count=1, min=9721.0ms, max=9721.0ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3726.9ms, max=3726.9ms + task_sampling: mean=427.2ms, total=854.4ms, count=2, min=376.5ms, max=477.9ms + task_specific_sample: mean=424.0ms, total=848.1ms, count=2, min=373.6ms, max=474.5ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms + mj_forward_sync: mean=397.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:34:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:34:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:34:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196553m [env.py: 870] +05/12 03:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44769483 -1.0729722 -0.19655261] yaw=-62.3deg [env.py: 1019] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:34:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.7ms [env.py: 1075] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -1.073, -0.197) [env.py: 1079] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/12 03:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 03:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:34:14 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 03:34:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 03:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:34:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:34:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:34:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.037s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:34:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.614[m] 95.211[deg] [grasp_sample.py: 539] +05/12 03:34:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:34:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:34:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:34:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:34:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:34:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.07s (batch: 3.66s, save: 9.41s) [pipeline.py: 300] +05/12 03:34:22 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.56s: + episode_total: mean=52.73s, total=158.18s, count=3, min=6370.8ms, max=138042.3ms + sensor_polling: mean=336.6ms, total=93.25s, count=277, min=299.4ms, max=624.5ms + save_trajectories: mean=9.41s, total=9.41s, count=1, min=9411.7ms, max=9411.7ms + physics_step: mean=22.2ms, total=6.14s, count=277, min=15.0ms, max=34.9ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3657.3ms, max=3657.3ms + task_sampling: mean=518.5ms, total=1.56s, count=3, min=461.5ms, max=619.1ms + task_specific_sample: mean=515.6ms, total=1.55s, count=3, min=459.0ms, max=615.3ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=0.9ms, max=2.7ms + mj_forward_sync: mean=392.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:34:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:34:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:34:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:34:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:34:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:34:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133302m [env.py: 870] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:34:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=372.2ms, total=372.2ms [env.py: 1105] +05/12 03:34:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:34:24 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:34:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:34:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:34:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:34:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:34:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:34:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123500m [env.py: 870] +05/12 03:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:34:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27607755 -1.03001706 -0.12349985] yaw=-46.3deg [env.py: 1019] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18123345 -0.95987106 -0.12349985] yaw=-48.6deg [env.py: 1019] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=541.2ms, total=541.3ms [env.py: 1075] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -1.030, -0.123) [env.py: 1079] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 03:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 03:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:34:26 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 03:34:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 03:34:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:34:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:34:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:34:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:34:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:34:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:34:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.981s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:34:40 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.761[m] 95.855[deg] [grasp_sample.py: 539] +05/12 03:34:41 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:34:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:34:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:34:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.60s (batch: 3.15s, save: 9.45s) [pipeline.py: 300] +05/12 03:34:43 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=2.25s: + episode_total: mean=29.85s, total=238.82s, count=8, min=205.6ms, max=173603.2ms + sensor_polling: mean=324.6ms, total=97.38s, count=300, min=297.0ms, max=717.0ms + save_trajectories: mean=9.45s, total=9.45s, count=1, min=9445.7ms, max=9445.7ms + physics_step: mean=21.9ms, total=6.56s, count=300, min=14.9ms, max=37.1ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3149.7ms, max=3149.7ms + task_specific_sample: mean=357.5ms, total=2.86s, count=8, min=202.8ms, max=481.4ms + task_sampling: mean=450.7ms, total=2.25s, count=5, min=404.7ms, max=483.8ms + task_sampling_failed: mean=209.7ms, total=629.1ms, count=3, min=205.6ms, max=212.6ms + scene_randomize: mean=1.2ms, total=9.4ms, count=8, min=0.9ms, max=1.6ms + mj_forward_sync: mean=412.5us, total=3.3ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=13.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:34:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:34:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:34:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:34:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178183m [env.py: 870] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37942219 -1.0499491 -0.17818257] yaw=-52.4deg [env.py: 1019] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=388.2ms, total=388.3ms [env.py: 1075] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -1.050, -0.178) [env.py: 1079] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg [env.py: 1082] +05/12 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:34:43 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 03:34:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:34:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:34:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:34:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:34:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:34:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:34:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:34:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174316m [env.py: 870] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31872969 -1.23800769 -0.17431643] yaw=-47.7deg [env.py: 1019] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30518244 -0.97544828 -0.17431643] yaw=-53.4deg [env.py: 1019] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56311608 -0.94280193 -0.17431643] yaw=-71.4deg [env.py: 1019] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.8ms, total=177.8ms [env.py: 1075] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.238, -0.174) [env.py: 1079] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg [env.py: 1082] +05/12 03:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:34:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:34:44 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 03:34:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 03:34:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:34:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:34:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:34:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.448s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:34:45 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.651[m] 92.993[deg] [grasp_sample.py: 539] +05/12 03:34:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:34:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:34:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:34:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.863s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:34:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.569[m] 84.908[deg] [grasp_sample.py: 539] +05/12 03:34:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:34:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:34:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:34:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:34:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:34:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:35:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:35:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:35:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:35:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:35:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 352 non-colliding grasps [grasp_sample.py: 465] +05/12 03:35:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.394s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:35:23 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.060[m] 5.164[deg] [grasp_sample.py: 539] +05/12 03:35:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:35:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:35:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:35:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:35:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:35:43 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:35:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:35:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:35:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:35:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:35:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 352 non-colliding grasps [grasp_sample.py: 465] +05/12 03:35:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.393s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:35:51 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.126[m] 4.512[deg] [grasp_sample.py: 539] +05/12 03:35:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:35:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:35:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:35:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:36:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:36:04 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 03:36:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:36:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 254 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:05 INFO: [Worker 0] Feasibility-checked 254 grasps in 0.337s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:36:05 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.054[m] 1.147[deg] [grasp_sample.py: 539] +05/12 03:36:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:36:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:36:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:36:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:11 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:36:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:36:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.321s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:36:15 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.134[m] 3.622[deg] [grasp_sample.py: 539] +05/12 03:36:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:36:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:36:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:36:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:36:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.65s (batch: 4.02s, save: 9.63s) [pipeline.py: 300] +05/12 03:36:18 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=1.05s: + episode_total: mean=76.10s, total=152.19s, count=2, min=2211.5ms, max=149982.8ms + sensor_polling: mean=362.8ms, total=97.96s, count=270, min=320.4ms, max=566.9ms + save_trajectories: mean=9.63s, total=9.63s, count=1, min=9633.4ms, max=9633.4ms + physics_step: mean=21.9ms, total=5.91s, count=270, min=15.1ms, max=30.8ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.4ms, max=4017.4ms + task_sampling: mean=527.4ms, total=1.05s, count=2, min=524.3ms, max=530.5ms + task_specific_sample: mean=523.8ms, total=1.05s, count=2, min=520.7ms, max=527.0ms + scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.3ms + mj_forward_sync: mean=517.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:36:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189134m [env.py: 870] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.2ms, total=222.3ms [env.py: 1105] +05/12 03:36:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:36:20 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165032m [env.py: 870] +05/12 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=222.4ms, total=222.5ms [env.py: 1105] +05/12 03:36:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:36:22 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:36:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185361m [env.py: 870] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19686539 -1.14881273 -0.18536084] yaw=-42.5deg [env.py: 1019] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.0ms [env.py: 1075] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.149, -0.185) [env.py: 1079] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/12 03:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:24 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:24 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:36:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.003s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:36:28 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.663[m] 81.539[deg] [grasp_sample.py: 539] +05/12 03:36:29 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:36:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186082m [env.py: 870] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2806114 -0.92635276 -0.18608152] yaw=-55.2deg [env.py: 1019] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.3ms [env.py: 1075] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.926, -0.186) [env.py: 1079] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 03:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:31 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:36:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.637s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:36:33 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 03:36:34 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:36:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:36:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:36:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167659m [env.py: 870] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3258622 -0.98709396 -0.16765944] yaw=-46.0deg [env.py: 1019] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.7ms [env.py: 1075] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -0.987, -0.168) [env.py: 1079] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg [env.py: 1082] +05/12 03:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:35 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.721s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:36:38 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.759[m] 88.302[deg] [grasp_sample.py: 539] +05/12 03:36:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:36:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:36:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:36:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:36:42 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:36:42 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=False episode_total=0.52s: + episode_total: mean=118.24s, total=118.24s, count=1, min=118242.0ms, max=118242.0ms + sensor_polling: mean=344.7ms, total=103.41s, count=300, min=301.9ms, max=700.9ms + physics_step: mean=23.3ms, total=7.00s, count=300, min=15.0ms, max=65.5ms + task_sampling: mean=516.8ms, total=516.8ms, count=1, min=516.8ms, max=516.8ms + task_specific_sample: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=768.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:36:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115377m [env.py: 870] +05/12 03:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=320.5ms, total=320.5ms [env.py: 1105] +05/12 03:36:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:36:44 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:36:44 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:36:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:36:44 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 03:36:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101624m [env.py: 870] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61286575 -0.8378669 -0.1016236 ] yaw=-58.6deg [env.py: 1019] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.6ms, total=200.7ms [env.py: 1075] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.613, -0.838, -0.102) [env.py: 1079] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/12 03:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:45 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:36:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:36:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.90s (batch: 3.80s, save: 10.09s) [pipeline.py: 300] +05/12 03:36:48 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.46s: + episode_total: mean=154.81s, total=154.81s, count=1, min=154805.9ms, max=154805.9ms + sensor_polling: mean=333.8ms, total=100.14s, count=300, min=298.4ms, max=641.3ms + save_trajectories: mean=10.09s, total=10.09s, count=1, min=10092.2ms, max=10092.2ms + physics_step: mean=22.3ms, total=6.68s, count=300, min=15.2ms, max=58.9ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3803.9ms, max=3803.9ms + task_sampling: mean=459.4ms, total=459.4ms, count=1, min=459.4ms, max=459.4ms + task_specific_sample: mean=455.9ms, total=455.9ms, count=1, min=455.9ms, max=455.9ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=374.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:36:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151249m [env.py: 870] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38728455 -0.96988091 -0.15124869] yaw=-64.1deg [env.py: 1019] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.9ms, total=217.0ms [env.py: 1075] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -0.970, -0.151) [env.py: 1079] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 03:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:50 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.290s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:36:51 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.786[m] 78.617[deg] [grasp_sample.py: 539] +05/12 03:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:36:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.841s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:36:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.729[m] 93.931[deg] [grasp_sample.py: 539] +05/12 03:36:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191304m [env.py: 870] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=260.9ms, total=261.0ms [env.py: 1105] +05/12 03:36:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:36:54 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:36:54 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:36:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105215m [env.py: 870] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.3ms [env.py: 1105] +05/12 03:36:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:36:55 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:36:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146150m [env.py: 870] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17954191 -1.03687937 -0.1461497 ] yaw=-46.9deg [env.py: 1019] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33289945 -1.03424395 -0.1461497 ] yaw=-56.8deg [env.py: 1019] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27694127 -1.17613744 -0.1461497 ] yaw=-44.7deg [env.py: 1019] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms [env.py: 1075] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.037, -0.146) [env.py: 1079] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:56 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189896m [env.py: 870] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:36:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.34s (batch: 3.55s, save: 8.79s) [pipeline.py: 300] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57713385 -0.75288957 -0.18989633] yaw=-79.7deg [env.py: 1019] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31281805 -1.11867041 -0.18989633] yaw=-41.4deg [env.py: 1019] +05/12 03:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.7ms, total=224.8ms [env.py: 1075] +05/12 03:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.753, -0.190) [env.py: 1079] +05/12 03:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.7 deg [env.py: 1082] +05/12 03:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 03:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:57 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:57 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.37s: + episode_total: mean=50.30s, total=150.91s, count=3, min=382.9ms, max=134435.3ms + sensor_polling: mean=329.8ms, total=88.39s, count=268, min=302.8ms, max=555.4ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8788.2ms, max=8788.2ms + physics_step: mean=21.7ms, total=5.81s, count=268, min=15.7ms, max=33.2ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.7ms, max=3551.7ms + task_specific_sample: mean=582.4ms, total=1.75s, count=3, min=377.9ms, max=792.9ms + task_sampling: mean=687.1ms, total=1.37s, count=2, min=578.8ms, max=795.4ms + task_sampling_failed: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.9ms, max=2.3ms + mj_forward_sync: mean=400.4us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:36:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.575s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:36:57 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159600m [env.py: 870] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.662s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:36:59 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26484688 -0.99183467 -0.15960042] yaw=-52.3deg [env.py: 1019] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.4ms, total=222.4ms [env.py: 1075] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -0.992, -0.160) [env.py: 1079] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:36:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:36:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182646m [env.py: 870] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59971975 -0.98899402 -0.1826463 ] yaw=-69.3deg [env.py: 1019] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:36:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:59 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:36:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.0ms, total=265.0ms [env.py: 1075] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.989, -0.183) [env.py: 1079] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg [env.py: 1082] +05/12 03:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:36:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:36:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:36:59 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 03:36:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:36:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:36:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:36:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:37:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:37:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:37:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:37:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:37:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:37:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:37:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165445m [env.py: 870] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:37:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47421973 -1.03387164 -0.16544468] yaw=-54.8deg [env.py: 1019] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22804501 -0.95865044 -0.16544468] yaw=-37.1deg [env.py: 1019] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29940536 -1.14500886 -0.16544468] yaw=-32.5deg [env.py: 1019] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:37:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms [env.py: 1075] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -1.034, -0.165) [env.py: 1079] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/12 03:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:37:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:37:00 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 03:37:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:37:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:37:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:37:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:37:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.789s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.637[m] 91.085[deg] [grasp_sample.py: 539] +05/12 03:37:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:37:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.102s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.580[m] 87.869[deg] [grasp_sample.py: 539] +05/12 03:37:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:37:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:37:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:37:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:37:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:37:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:37:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:37:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.751[m] 87.971[deg] [grasp_sample.py: 539] +05/12 03:37:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:37:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:37:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:37:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:37:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:37:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:37:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:37:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:37:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:37:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:37:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:37:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:37:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:37:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.902s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:40 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.526[m] 62.844[deg] [grasp_sample.py: 539] +05/12 03:37:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:37:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:37:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.695s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:44 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.469[m] 60.423[deg] [grasp_sample.py: 539] +05/12 03:37:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:46 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:37:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:37:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:37:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:37:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:37:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:37:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:37:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:37:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:37:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:37:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111001m [env.py: 870] +05/12 03:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:37:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47031772 -0.90954256 -0.1110011 ] yaw=-51.0deg [env.py: 1019] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:37:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=485.3ms, total=485.4ms [env.py: 1075] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -0.910, -0.111) [env.py: 1079] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 03:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 03:37:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:37:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:37:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:37:48 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 03:37:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 03:37:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:37:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:37:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:37:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:37:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:37:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:37:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:37:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.590s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:56 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.472[m] 61.844[deg] [grasp_sample.py: 539] +05/12 03:37:57 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:37:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:37:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:37:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:37:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:37:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:37:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:37:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168745m [env.py: 870] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:37:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.6366332 -0.9872355 -0.16874485] yaw=-62.4deg [env.py: 1019] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43297507 -0.87467969 -0.16874485] yaw=-51.1deg [env.py: 1019] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:37:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.637, -0.987, -0.169) [env.py: 1079] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/12 03:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:37:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:37:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:37:59 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 03:37:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:37:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:37:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:37:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:37:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.589s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:59 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.784[m] 90.067[deg] [grasp_sample.py: 539] +05/12 03:37:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:37:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:37:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:37:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.598s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:37:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.647[m] 81.721[deg] [grasp_sample.py: 539] +05/12 03:37:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:38:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:38:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:38:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:38:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:38:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:38:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:38:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:38:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:38:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:38:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 395 non-colliding grasps [grasp_sample.py: 465] +05/12 03:38:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.359s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:38:25 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.017[m] 22.524[deg] [grasp_sample.py: 539] +05/12 03:38:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:38:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:38:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:38:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:38:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.131s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:38:28 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.505[m] 57.500[deg] [grasp_sample.py: 539] +05/12 03:38:30 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:38:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:38:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:38:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:38:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:38:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:38:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:38:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186064m [env.py: 870] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:38:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39237719 -0.82400314 -0.18606437] yaw=-48.3deg [env.py: 1019] +05/12 03:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:38:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=381.9ms, total=382.0ms [env.py: 1075] +05/12 03:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.824, -0.186) [env.py: 1079] +05/12 03:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/12 03:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 03:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:38:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:38:32 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 03:38:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:38:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:38:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:38:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:38:33 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:38:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.535s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:38:34 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:38:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:38:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:38:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:38:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108460m [env.py: 870] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=259.5ms, total=259.5ms [env.py: 1105] +05/12 03:38:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:38:36 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:38:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:38:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:38:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:38:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:38:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:38:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:38:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162340m [env.py: 870] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:38:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58313116 -0.92183862 -0.16233991] yaw=-74.8deg [env.py: 1019] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:38:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.0ms, total=220.1ms [env.py: 1075] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.922, -0.162) [env.py: 1079] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.8 deg [env.py: 1082] +05/12 03:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:38:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:38:38 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 03:38:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:38:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:38:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:38:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:38:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:38:52 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:38:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:38:52 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 03:38:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.147s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:38:58 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.734[m] 91.099[deg] [grasp_sample.py: 539] +05/12 03:38:59 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195277m [env.py: 870] +05/12 03:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30245524 -1.12976342 -0.19527712] yaw=-42.9deg [env.py: 1019] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.3ms, total=221.3ms [env.py: 1075] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.130, -0.195) [env.py: 1079] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:01 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.509s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:03 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.639[m] 85.234[deg] [grasp_sample.py: 539] +05/12 03:39:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:39:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:39:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:39:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:39:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:39:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.76s (batch: 3.09s, save: 9.67s) [pipeline.py: 300] +05/12 03:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:39:06 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=1.31s: + episode_total: mean=32.08s, total=160.39s, count=5, min=233.7ms, max=150945.3ms + sensor_polling: mean=367.9ms, total=105.95s, count=288, min=322.8ms, max=608.4ms + save_trajectories: mean=9.67s, total=9.67s, count=1, min=9669.4ms, max=9669.4ms + physics_step: mean=22.0ms, total=6.33s, count=288, min=14.7ms, max=53.3ms + save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3092.2ms, max=3092.2ms + task_specific_sample: mean=352.4ms, total=1.76s, count=5, min=228.2ms, max=459.5ms + task_sampling: mean=436.8ms, total=1.31s, count=3, min=406.5ms, max=461.6ms + task_sampling_failed: mean=234.1ms, total=468.2ms, count=2, min=233.7ms, max=234.5ms + scene_randomize: mean=1.4ms, total=6.9ms, count=5, min=0.9ms, max=2.8ms + mj_forward_sync: mean=446.4us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:39:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149813m [env.py: 870] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47175962 -1.07534117 -0.14981272] yaw=-49.0deg [env.py: 1019] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20579874 -0.94317105 -0.14981272] yaw=-45.6deg [env.py: 1019] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.3ms, total=230.4ms [env.py: 1075] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.472, -1.075, -0.150) [env.py: 1079] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/12 03:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:07 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.706s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.651[m] 84.145[deg] [grasp_sample.py: 539] +05/12 03:39:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:39:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:09 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:39:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.566s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:10 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.124[m] 6.891[deg] [grasp_sample.py: 539] +05/12 03:39:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:39:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:39:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126411m [env.py: 870] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.2ms, total=212.2ms [env.py: 1105] +05/12 03:39:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:39:11 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:39:11 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:39:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183521m [env.py: 870] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47463902 -0.87775803 -0.18352148] yaw=-67.3deg [env.py: 1019] +05/12 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.2ms, total=229.2ms [env.py: 1075] +05/12 03:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.878, -0.184) [env.py: 1079] +05/12 03:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 03:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 03:39:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:13 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:39:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:39:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.567s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:20 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.161[m] 11.736[deg] [grasp_sample.py: 539] +05/12 03:39:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:39:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:39:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:39:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.044s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:24 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.742[m] 95.702[deg] [grasp_sample.py: 539] +05/12 03:39:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:39:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:39:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:39:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:39:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:39:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:32 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:39:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:39:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:39:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.194s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:32 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.218[m] 17.109[deg] [grasp_sample.py: 539] +05/12 03:39:33 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:39:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145583m [env.py: 870] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=211.1ms, total=211.2ms [env.py: 1105] +05/12 03:39:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:39:35 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:39:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173591m [env.py: 870] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19475139 -0.94984306 -0.17359137] yaw=-49.8deg [env.py: 1019] +05/12 03:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.8ms, total=202.9ms [env.py: 1075] +05/12 03:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -0.950, -0.174) [env.py: 1079] +05/12 03:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 03:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 03:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:37 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.539s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:39:38 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:39:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136625m [env.py: 870] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24131286 -1.03766497 -0.13662509] yaw=-41.2deg [env.py: 1019] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=332.1ms, total=332.2ms [env.py: 1075] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -1.038, -0.137) [env.py: 1079] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/12 03:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:40 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:39:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:39:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.53s (batch: 3.40s, save: 10.13s) [pipeline.py: 300] +05/12 03:39:46 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.51s: + episode_total: mean=167.31s, total=167.31s, count=1, min=167309.4ms, max=167309.4ms + sensor_polling: mean=347.5ms, total=104.26s, count=300, min=303.7ms, max=512.8ms + save_trajectories: mean=10.13s, total=10.13s, count=1, min=10126.2ms, max=10126.2ms + physics_step: mean=23.0ms, total=6.90s, count=300, min=14.8ms, max=87.0ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3400.4ms, max=3400.4ms + task_sampling: mean=509.2ms, total=509.2ms, count=1, min=509.2ms, max=509.2ms + task_specific_sample: mean=505.6ms, total=505.6ms, count=1, min=505.6ms, max=505.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=421.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:39:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.082s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:46 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.766[m] 93.112[deg] [grasp_sample.py: 539] +05/12 03:39:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148128m [env.py: 870] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=229.8ms, total=229.8ms [env.py: 1105] +05/12 03:39:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:39:47 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:39:48 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:39:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129003m [env.py: 870] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26409514 -0.96950136 -0.12900318] yaw=-42.0deg [env.py: 1019] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49036922 -1.01911983 -0.12900318] yaw=-51.3deg [env.py: 1019] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36558021 -0.9612623 -0.12900318] yaw=-55.2deg [env.py: 1019] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=199.1ms, total=199.1ms [env.py: 1075] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -0.970, -0.129) [env.py: 1079] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:39:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:49 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163165m [env.py: 870] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=287.5ms, total=287.6ms [env.py: 1105] +05/12 03:39:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:39:49 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194096m [env.py: 870] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55020113 -0.91751892 -0.1940963 ] yaw=-70.7deg [env.py: 1019] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.584s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:39:51 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.2ms [env.py: 1075] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.918, -0.194) [env.py: 1079] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/12 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:51 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143244m [env.py: 870] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53012839 -0.90366373 -0.14324408] yaw=-57.0deg [env.py: 1019] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54183452 -0.71514868 -0.14324408] yaw=-64.2deg [env.py: 1019] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37484976 -0.9486629 -0.14324408] yaw=-57.6deg [env.py: 1019] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.1ms [env.py: 1075] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.904, -0.143) [env.py: 1079] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 03:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 03:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:53 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:39:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.805s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.713[m] 93.762[deg] [grasp_sample.py: 539] +05/12 03:39:56 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:39:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:39:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.705s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:39:57 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.691[m] 86.593[deg] [grasp_sample.py: 539] +05/12 03:39:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:39:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:39:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180129m [env.py: 870] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65988649 -0.97638237 -0.18012927] yaw=-68.7deg [env.py: 1019] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57445935 -1.00622663 -0.18012927] yaw=-69.8deg [env.py: 1019] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:39:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.5ms [env.py: 1075] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.660, -0.976, -0.180) [env.py: 1079] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg [env.py: 1082] +05/12 03:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:39:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:39:58 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 03:39:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:39:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 03:39:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:39:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:39:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:40:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:40:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.098s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:40:00 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.616[m] 94.126[deg] [grasp_sample.py: 539] +05/12 03:40:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:40:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:40:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:40:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:40:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:40:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:40:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:40:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:40:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:40:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:40:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:40:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:40:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.458[m] 65.289[deg] [grasp_sample.py: 539] +05/12 03:40:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.479s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:40:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.176[m] 16.529[deg] [grasp_sample.py: 539] +05/12 03:40:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:40:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:40:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:40:25 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:40:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:40:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:40:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:40:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:40:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:40:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:40:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108911m [env.py: 870] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:40:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.4ms, total=195.4ms [env.py: 1105] +05/12 03:40:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:40:27 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:40:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:40:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:40:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:40:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:40:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:40:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:40:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177302m [env.py: 870] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:40:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48135543 -1.01084685 -0.17730196] yaw=-61.1deg [env.py: 1019] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:40:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms [env.py: 1075] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.481, -1.011, -0.177) [env.py: 1079] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/12 03:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:40:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:40:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:40:29 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 03:40:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 03:40:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:40:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:40:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:40:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.673[m] 88.593[deg] [grasp_sample.py: 539] +05/12 03:40:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:40:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:40:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:42 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:40:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:40:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:40:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:40:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:40:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.579s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:40:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.155[m] 14.856[deg] [grasp_sample.py: 539] +05/12 03:40:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:40:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:40:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:40:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:40:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:40:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:40:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:40:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:40:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:40:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:40:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:40:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.519s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:40:57 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.129[m] 13.228[deg] [grasp_sample.py: 539] +05/12 03:40:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:40:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:40:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:40:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.497s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:40:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.183[m] 8.698[deg] [grasp_sample.py: 539] +05/12 03:40:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:40:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:40:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:41:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:41:00 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 03:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:41:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.504s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:07 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.171[m] 8.127[deg] [grasp_sample.py: 539] +05/12 03:41:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:41:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:10 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:11 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:41:11 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=0.88s: + episode_total: mean=40.35s, total=121.05s, count=3, min=221.2ms, max=118301.2ms + sensor_polling: mean=368.8ms, total=61.96s, count=168, min=320.4ms, max=526.8ms + physics_step: mean=21.5ms, total=3.60s, count=168, min=15.3ms, max=52.4ms + task_specific_sample: mean=364.3ms, total=1.09s, count=3, min=217.4ms, max=438.1ms + task_sampling: mean=440.7ms, total=881.5ms, count=2, min=439.4ms, max=442.1ms + task_sampling_failed: mean=221.1ms, total=221.1ms, count=1, min=221.1ms, max=221.1ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.0ms, max=2.8ms + mj_forward_sync: mean=415.1us, total=1.2ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:41:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:41:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:41:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.14s (batch: 2.89s, save: 8.25s) [pipeline.py: 300] +05/12 03:41:11 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=3.30s: + episode_total: mean=23.08s, total=253.88s, count=11, min=202.8ms, max=131022.0ms + sensor_polling: mean=347.4ms, total=128.19s, count=369, min=297.7ms, max=722.7ms + physics_step: mean=23.1ms, total=8.52s, count=369, min=13.5ms, max=63.5ms + save_trajectories: mean=8.25s, total=8.25s, count=1, min=8245.7ms, max=8245.7ms + task_specific_sample: mean=393.9ms, total=4.33s, count=11, min=200.0ms, max=639.9ms + task_sampling: mean=470.8ms, total=3.30s, count=7, min=429.6ms, max=643.2ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2891.4ms, max=2891.4ms + task_sampling_failed: mean=268.7ms, total=1.07s, count=4, min=202.8ms, max=332.2ms + scene_randomize: mean=1.1ms, total=12.4ms, count=11, min=0.9ms, max=1.7ms + mj_forward_sync: mean=417.5us, total=4.6ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=15.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:41:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:41:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:41:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:41:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:41:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139375m [env.py: 870] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:41:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50568704 -1.05267507 -0.13937468] yaw=-50.7deg [env.py: 1019] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:41:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.5ms [env.py: 1075] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.506, -1.053, -0.139) [env.py: 1079] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 03:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:41:12 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 03:41:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 03:41:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:41:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:41:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:41:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:41:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:41:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:41:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177169m [env.py: 870] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:41:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.746s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.641[m] 76.605[deg] [grasp_sample.py: 539] +05/12 03:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=808.4ms, total=808.5ms [env.py: 1105] +05/12 03:41:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:41:14 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:41:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:41:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:41:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:41:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189540m [env.py: 870] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:41:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36795463 -0.93159204 -0.1895399 ] yaw=-60.9deg [env.py: 1019] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.4ms [env.py: 1075] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -0.932, -0.190) [env.py: 1079] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 03:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:41:15 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 03:41:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 03:41:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:41:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.744s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.759[m] 100.609[deg] [grasp_sample.py: 539] +05/12 03:41:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:41:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:41:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.529s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:21 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.166[m] 23.129[deg] [grasp_sample.py: 539] +05/12 03:41:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:41:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:41:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:41:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:41:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:41:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:41:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:41:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 389 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.481s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:49 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.093[m] 4.754[deg] [grasp_sample.py: 539] +05/12 03:41:50 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:41:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:41:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:41:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:41:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:41:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:41:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128283m [env.py: 870] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:41:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40187517 -1.02067287 -0.12828307] yaw=-42.7deg [env.py: 1019] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:41:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.8ms [env.py: 1075] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -1.021, -0.128) [env.py: 1079] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg [env.py: 1082] +05/12 03:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:41:52 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 03:41:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 03:41:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.447s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.714[m] 80.036[deg] [grasp_sample.py: 539] +05/12 03:41:54 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:41:55 INFO: [Worker 0] Object is not in grasp! 0.00122 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:41:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 426 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.366s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:55 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.056[m] 1.452[deg] [grasp_sample.py: 539] +05/12 03:41:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:41:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:41:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:41:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:41:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:41:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189042m [env.py: 870] +05/12 03:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:41:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:41:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54746621 -0.92432907 -0.18904199] yaw=-60.1deg [env.py: 1019] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:41:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.4ms, total=213.5ms [env.py: 1075] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -0.924, -0.189) [env.py: 1079] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 03:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:41:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:41:56 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 03:41:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:41:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:41:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:41:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:41:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:41:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:41:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.651[m] 82.620[deg] [grasp_sample.py: 539] +05/12 03:41:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:41:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:41:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:41:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:42:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:42:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:22 INFO: [Worker 0] Object is not in grasp! 0.00154 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:42:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:22 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:42:22 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=3.50s: + episode_total: mean=35.76s, total=321.88s, count=9, min=220.5ms, max=151091.8ms + sensor_polling: mean=382.4ms, total=188.90s, count=494, min=299.2ms, max=746.7ms + physics_step: mean=24.2ms, total=11.94s, count=494, min=15.1ms, max=120.3ms + task_specific_sample: mean=443.0ms, total=3.99s, count=9, min=216.3ms, max=723.7ms + task_sampling: mean=499.8ms, total=3.50s, count=7, min=349.1ms, max=727.3ms + task_sampling_failed: mean=258.0ms, total=516.0ms, count=2, min=220.5ms, max=295.5ms + scene_randomize: mean=1.4ms, total=12.2ms, count=9, min=1.0ms, max=2.6ms + mj_forward_sync: mean=461.8us, total=4.2ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=11.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:42:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:42:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:42:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:42:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:42:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:42:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:42:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:42:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116727m [env.py: 870] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3976759 -1.12465822 -0.11672747] yaw=-51.2deg [env.py: 1019] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:42:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=212.1ms, total=212.2ms [env.py: 1075] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -1.125, -0.117) [env.py: 1079] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 03:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:42:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:42:24 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 03:42:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 03:42:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:42:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:42:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:42:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.615s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:42:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.474[m] 54.897[deg] [grasp_sample.py: 539] +05/12 03:42:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:42:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:42:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.492s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:42:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.653[m] 80.698[deg] [grasp_sample.py: 539] +05/12 03:42:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:42:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:42:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:42:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:42:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:42:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 03:42:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.366s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:42:30 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.040[m] 3.397[deg] [grasp_sample.py: 539] +05/12 03:42:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:42:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:42:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:42:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:42:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:42:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:42:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:42:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.498s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:42:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.474[m] 54.901[deg] [grasp_sample.py: 539] +05/12 03:42:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:42:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:42:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:42:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:42:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:42:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:42:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:42:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:42:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.474[m] 54.901[deg] [grasp_sample.py: 539] +05/12 03:42:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:42:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:42:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:43:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:43:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:43:02 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:43:02 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=False episode_total=2.64s: + episode_total: mean=23.27s, total=186.16s, count=8, min=204.9ms, max=81721.0ms + sensor_polling: mean=326.1ms, total=96.84s, count=297, min=297.4ms, max=568.2ms + physics_step: mean=20.3ms, total=6.02s, count=297, min=13.1ms, max=28.6ms + task_specific_sample: mean=382.1ms, total=3.06s, count=8, min=201.1ms, max=492.7ms + task_sampling: mean=439.7ms, total=2.64s, count=6, min=411.0ms, max=496.0ms + task_sampling_failed: mean=222.2ms, total=444.4ms, count=2, min=204.9ms, max=239.5ms + scene_randomize: mean=1.2ms, total=9.6ms, count=8, min=0.9ms, max=1.6ms + mj_forward_sync: mean=457.7us, total=3.7ms, count=8, min=0.4ms, max=0.7ms + policy_setup: mean=12.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:43:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:43:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:43:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:43:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:43:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199765m [env.py: 870] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:43:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32427586 -1.20312552 -0.1997655 ] yaw=-30.4deg [env.py: 1019] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.4ms, total=221.4ms [env.py: 1075] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.203, -0.200) [env.py: 1079] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.4 deg [env.py: 1082] +05/12 03:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:43:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:43:04 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 03:43:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 03:43:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:43:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:43:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:43:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.293s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:43:06 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.612[m] 85.189[deg] [grasp_sample.py: 539] +05/12 03:43:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:43:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:43:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:43:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:43:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:43:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:43:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:43:22 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:43:25 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:43:43 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:43:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:43:43 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 03:43:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:43:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:43:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:43:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:43:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:43:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:43:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.09s (batch: 3.14s, save: 8.95s) [pipeline.py: 300] +05/12 03:43:55 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.44s: + episode_total: mean=80.53s, total=161.06s, count=2, min=819.0ms, max=160245.7ms + sensor_polling: mean=392.1ms, total=112.14s, count=286, min=296.1ms, max=633.0ms + save_trajectories: mean=8.95s, total=8.95s, count=1, min=8951.5ms, max=8951.5ms + physics_step: mean=24.1ms, total=6.89s, count=286, min=14.7ms, max=68.0ms + save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3141.9ms, max=3141.9ms + task_specific_sample: mean=626.6ms, total=1.25s, count=2, min=439.1ms, max=814.2ms + task_sampling_failed: mean=819.0ms, total=819.0ms, count=1, min=819.0ms, max=819.0ms + task_sampling: mean=441.7ms, total=441.7ms, count=1, min=441.7ms, max=441.7ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.0ms, max=2.2ms + mj_forward_sync: mean=377.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:43:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:43:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:43:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:43:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:43:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:43:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:43:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:43:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:43:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:43:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119734m [env.py: 870] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:43:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.2ms, total=193.3ms [env.py: 1105] +05/12 03:43:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:43:57 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:43:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:43:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:43:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:43:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:43:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:43:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:43:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191009m [env.py: 870] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:43:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41200488 -0.95901633 -0.19100925] yaw=-56.4deg [env.py: 1019] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:43:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1075] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -0.959, -0.191) [env.py: 1079] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 03:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:43:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:43:58 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 03:43:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 03:43:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:43:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:43:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:43:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:44:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.440s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.659[m] 84.911[deg] [grasp_sample.py: 539] +05/12 03:44:01 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:44:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170750m [env.py: 870] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58953957 -0.93693799 -0.17074957] yaw=-59.5deg [env.py: 1019] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.4ms, total=210.5ms [env.py: 1075] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.937, -0.171) [env.py: 1079] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/12 03:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:03 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:03 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:44:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:44:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:44:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.05s (batch: 3.66s, save: 10.39s) [pipeline.py: 300] +05/12 03:44:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.774s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.660[m] 87.059[deg] [grasp_sample.py: 539] +05/12 03:44:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:44:04 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.42s: + episode_total: mean=171.85s, total=171.85s, count=1, min=171848.7ms, max=171848.7ms + sensor_polling: mean=388.1ms, total=116.42s, count=300, min=322.0ms, max=729.4ms + save_trajectories: mean=10.39s, total=10.39s, count=1, min=10393.7ms, max=10393.7ms + physics_step: mean=23.8ms, total=7.13s, count=300, min=14.8ms, max=58.3ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3661.0ms, max=3661.0ms + task_sampling: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms + task_specific_sample: mean=420.8ms, total=420.8ms, count=1, min=420.8ms, max=420.8ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=499.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=11.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:44:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:44:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:44:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191298m [env.py: 870] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29652388 -1.20077657 -0.19129775] yaw=-50.5deg [env.py: 1019] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60849068 -0.73463171 -0.19129775] yaw=-76.7deg [env.py: 1019] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=243.9ms, total=244.0ms [env.py: 1075] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.201, -0.191) [env.py: 1079] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/12 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:06 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.437s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:07 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.630[m] 84.981[deg] [grasp_sample.py: 539] +05/12 03:44:08 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:44:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165008m [env.py: 870] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09313423 -1.04823954 -0.16500754] yaw=-48.7deg [env.py: 1019] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36338723 -0.93584165 -0.16500754] yaw=-55.9deg [env.py: 1019] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.4ms [env.py: 1075] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.093, -1.048, -0.165) [env.py: 1079] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg [env.py: 1082] +05/12 03:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:10 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.528s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:44:12 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:44:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162077m [env.py: 870] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26045499 -1.19613793 -0.16207749] yaw=-46.8deg [env.py: 1019] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43866293 -0.97510916 -0.16207749] yaw=-63.3deg [env.py: 1019] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=816.1ms, total=816.2ms [env.py: 1075] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.196, -0.162) [env.py: 1079] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg [env.py: 1082] +05/12 03:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 03:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:14 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.354s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.640[m] 86.760[deg] [grasp_sample.py: 539] +05/12 03:44:19 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:44:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165394m [env.py: 870] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1195463 -1.04887728 -0.16539374] yaw=-47.6deg [env.py: 1019] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52915515 -0.82457294 -0.16539374] yaw=-60.4deg [env.py: 1019] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38533364 -0.84361068 -0.16539374] yaw=-49.4deg [env.py: 1019] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.5ms, total=171.6ms [env.py: 1075] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.049, -0.165) [env.py: 1079] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/12 03:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:20 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:44:22 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:44:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109421m [env.py: 870] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4846221 -0.82661706 -0.10942097] yaw=-61.4deg [env.py: 1019] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=396.9ms, total=397.0ms [env.py: 1075] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -0.827, -0.109) [env.py: 1079] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/12 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:24 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:24 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:44:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:44:24 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 03:44:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:44:25 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:44:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124681m [env.py: 870] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=271.5ms, total=271.5ms [env.py: 1105] +05/12 03:44:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:44:27 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:44:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121868m [env.py: 870] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=183.6ms, total=183.6ms [env.py: 1105] +05/12 03:44:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:44:28 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:44:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184439m [env.py: 870] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3321628 -0.93463605 -0.18443856] yaw=-62.6deg [env.py: 1019] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.0ms, total=192.1ms [env.py: 1075] +05/12 03:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -0.935, -0.184) [env.py: 1079] +05/12 03:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 03:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 03:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:30 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.760[m] 95.406[deg] [grasp_sample.py: 539] +05/12 03:44:32 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:44:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194241m [env.py: 870] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.28159384 -0.99846913 -0.19424132] yaw=-49.6deg [env.py: 1019] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=271.5ms, total=271.6ms [env.py: 1075] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -0.998, -0.194) [env.py: 1079] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 03:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:34 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.737[m] 98.030[deg] [grasp_sample.py: 539] +05/12 03:44:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:44:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:44:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:44:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:44:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:44:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.35s (batch: 3.76s, save: 8.60s) [pipeline.py: 300] +05/12 03:44:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:44:37 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.45s: + episode_total: mean=133.60s, total=133.60s, count=1, min=133601.3ms, max=133601.3ms + sensor_polling: mean=334.5ms, total=88.64s, count=265, min=294.2ms, max=723.9ms + save_trajectories: mean=8.60s, total=8.60s, count=1, min=8596.1ms, max=8596.1ms + physics_step: mean=21.9ms, total=5.79s, count=265, min=14.5ms, max=47.1ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3758.0ms, max=3758.0ms + task_sampling: mean=452.9ms, total=452.9ms, count=1, min=452.9ms, max=452.9ms + task_specific_sample: mean=450.5ms, total=450.5ms, count=1, min=450.5ms, max=450.5ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=10.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177660m [env.py: 870] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=238.6ms, total=238.6ms [env.py: 1105] +05/12 03:44:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:44:38 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:44:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109623m [env.py: 870] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38017858 -1.01096192 -0.10962332] yaw=-45.4deg [env.py: 1019] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms [env.py: 1075] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -1.011, -0.110) [env.py: 1079] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 03:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:40 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:42 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:44:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.344s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:43 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.737[m] 93.843[deg] [grasp_sample.py: 539] +05/12 03:44:44 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:44:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:44:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:44:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:44:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:44:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:44:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165861m [env.py: 870] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:44:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36370608 -0.92254396 -0.16586149] yaw=-58.2deg [env.py: 1019] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28839854 -1.03664685 -0.16586149] yaw=-43.7deg [env.py: 1019] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:44:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms [env.py: 1075] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.923, -0.166) [env.py: 1079] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 03:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:44:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:44:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:44:45 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 03:44:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 03:44:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:44:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:44:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:44:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:44:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.800s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:44:55 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.739[m] 84.599[deg] [grasp_sample.py: 539] +05/12 03:44:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:44:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:44:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:44:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:45:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:45:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 03:45:02 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 03:45:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:45:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:45:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:45:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.62s (batch: 3.22s, save: 8.40s) [pipeline.py: 300] +05/12 03:45:14 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.44s: + episode_total: mean=130.04s, total=130.04s, count=1, min=130041.1ms, max=130041.1ms + sensor_polling: mean=344.6ms, total=88.90s, count=258, min=301.6ms, max=652.8ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8400.0ms, max=8400.0ms + physics_step: mean=22.5ms, total=5.81s, count=258, min=14.9ms, max=64.6ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3224.1ms, max=3224.1ms + task_sampling: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms + task_specific_sample: mean=442.1ms, total=442.1ms, count=1, min=442.1ms, max=442.1ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=359.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:45:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:45:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:45:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:45:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:45:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:45:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:45:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197574m [env.py: 870] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:45:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4996101 -0.72980349 -0.19757376] yaw=-58.8deg [env.py: 1019] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:15 INFO: [Worker 0] Object is not in grasp! 0.00105 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:45:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:45:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:45:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:45:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.5ms, total=212.5ms [env.py: 1075] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -0.730, -0.198) [env.py: 1079] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/12 03:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:45:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 03:45:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:45:15 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 03:45:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 03:45:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:45:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:45:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:45:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:45:16 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.053[m] 0.605[deg] [grasp_sample.py: 539] +05/12 03:45:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:45:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:45:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.705s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:45:17 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:45:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:45:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:45:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126549m [env.py: 870] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.5ms, total=224.5ms [env.py: 1105] +05/12 03:45:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:45:19 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:45:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:45:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:45:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:45:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:45:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:45:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:45:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147773m [env.py: 870] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:45:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.3ms, total=187.3ms [env.py: 1105] +05/12 03:45:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:45:20 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:45:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:45:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:45:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:45:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:45:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:45:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:45:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121655m [env.py: 870] +05/12 03:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:45:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:45:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.7ms, total=188.7ms [env.py: 1105] +05/12 03:45:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:45:22 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:45:23 WARNING: [Worker 0] No trajectory data to save for chunk_008 [pipeline.py: 234] +05/12 03:45:23 WARNING: [Worker 0] No trajectory data to save for chunk_008 [pipeline.py: 234] +05/12 03:45:23 INFO: [Worker 0] Worker 0 completed house 1: 12/15 successful episodes [pipeline.py: 1323] +05/12 03:45:23 INFO: [Worker 0] [PROFILE] House 1 complete: 12/15 successful, 15 episodes, total_time=4234.94s + House averages: + episode_total: mean=33.84s, total=2436.33s, count=72, min=176.1ms, max=174390.9ms + sensor_polling: mean=347.0ms, total=1483.82s, count=4276, min=292.0ms, max=715.6ms + save_trajectories: mean=9.19s, total=110.23s, count=12, min=8400.0ms, max=10138.4ms + physics_step: mean=22.6ms, total=96.73s, count=4276, min=13.1ms, max=87.0ms + save_batch_prep: mean=3.40s, total=40.85s, count=12, min=3038.6ms, max=3657.3ms + task_specific_sample: mean=387.9ms, total=27.93s, count=72, min=172.6ms, max=976.7ms + task_sampling: mean=545.4ms, total=25.64s, count=47, min=276.7ms, max=3672.1ms + task_sampling_failed: mean=225.9ms, total=5.65s, count=25, min=176.1ms, max=382.9ms + scene_load: mean=3.13s, total=3.13s, count=1, min=3131.4ms, max=3131.4ms + scene_env_create: mean=1.69s, total=1.69s, count=1, min=1690.6ms, max=1690.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.4ms, max=1298.4ms + compile_mujoco: mean=704.4ms, total=704.4ms, count=1, min=704.4ms, max=704.4ms + compile_xml_load: mean=509.9ms, total=509.9ms, count=1, min=509.9ms, max=509.9ms + scene_init: mean=99.0ms, total=99.0ms, count=1, min=99.0ms, max=99.0ms + scene_randomize: mean=1.3ms, total=92.6ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + scene_asset_install: mean=43.1ms, total=43.1ms, count=1, min=43.1ms, max=43.1ms + mj_forward_sync: mean=427.5us, total=30.8ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms + compile_robot_add: mean=23.3ms, total=23.3ms, count=1, min=23.3ms, max=23.3ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=14.9us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 03:45:23 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 03:45:23 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4234.94s + Worker averages: + episode_total: mean=33.84s, total=2436.33s, count=72, min=176.1ms, max=174390.9ms + sensor_polling: mean=347.0ms, total=1483.82s, count=4276, min=292.0ms, max=715.6ms + save_trajectories: mean=9.19s, total=110.23s, count=12, min=8400.0ms, max=10138.4ms + physics_step: mean=22.6ms, total=96.73s, count=4276, min=13.1ms, max=87.0ms + save_batch_prep: mean=3.40s, total=40.85s, count=12, min=3038.6ms, max=3657.3ms + task_specific_sample: mean=387.9ms, total=27.93s, count=72, min=172.6ms, max=976.7ms + task_sampling: mean=545.4ms, total=25.64s, count=47, min=276.7ms, max=3672.1ms + task_sampling_failed: mean=225.9ms, total=5.65s, count=25, min=176.1ms, max=382.9ms + scene_load: mean=3.13s, total=3.13s, count=1, min=3131.4ms, max=3131.4ms + scene_env_create: mean=1.69s, total=1.69s, count=1, min=1690.6ms, max=1690.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.4ms, max=1298.4ms + compile_mujoco: mean=704.4ms, total=704.4ms, count=1, min=704.4ms, max=704.4ms + compile_xml_load: mean=509.9ms, total=509.9ms, count=1, min=509.9ms, max=509.9ms + scene_init: mean=99.0ms, total=99.0ms, count=1, min=99.0ms, max=99.0ms + scene_randomize: mean=1.3ms, total=92.6ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + scene_asset_install: mean=43.1ms, total=43.1ms, count=1, min=43.1ms, max=43.1ms + mj_forward_sync: mean=427.5us, total=30.8ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms + compile_robot_add: mean=23.3ms, total=23.3ms, count=1, min=23.3ms, max=23.3ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=14.9us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 03:45:25 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 03:45:25 INFO: Success count: 12, Total count: 15 [pipeline.py: 1491] +05/12 03:45:25 INFO: Success rate: 80.00% [pipeline.py: 1492] +05/12 03:45:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:45:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:45:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:45:35 INFO: [Worker 0] Object is not in grasp! 0.00191 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:45:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:45:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:45:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:45:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 03:45:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:45:36 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.575[deg] [grasp_sample.py: 539] +05/12 03:45:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:45:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:45:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:45:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:45:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:45:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:45:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:04 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:46:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:46:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:46:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:46:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:46:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 03:46:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.346s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:46:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.039[m] 1.456[deg] [grasp_sample.py: 539] +05/12 03:46:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:46:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:46:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:46:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:46:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:46:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:46:28 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:46:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:46:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:46:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:46:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 343 non-colliding grasps [grasp_sample.py: 465] +05/12 03:46:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:46:30 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.054[m] 8.364[deg] [grasp_sample.py: 539] +05/12 03:46:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:46:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:46:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:37 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:46:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:46:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:46:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:46:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.56s (batch: 3.15s, save: 9.41s) [pipeline.py: 300] +05/12 03:46:41 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.86s: + episode_total: mean=53.92s, total=161.77s, count=3, min=204.6ms, max=158453.6ms + sensor_polling: mean=357.5ms, total=107.25s, count=300, min=295.2ms, max=746.9ms + save_trajectories: mean=9.41s, total=9.41s, count=1, min=9407.4ms, max=9407.4ms + physics_step: mean=24.0ms, total=7.20s, count=300, min=19.5ms, max=59.2ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3152.8ms, max=3152.8ms + task_specific_sample: mean=351.7ms, total=1.06s, count=3, min=199.0ms, max=448.7ms + task_sampling: mean=430.5ms, total=860.9ms, count=2, min=409.8ms, max=451.2ms + task_sampling_failed: mean=204.6ms, total=204.6ms, count=1, min=204.6ms, max=204.6ms + scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=0.9ms, max=1.7ms + mj_forward_sync: mean=389.6us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:46:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:46:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:46:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:46:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:46:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:46:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:46:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195349m [env.py: 870] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:46:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39639756 -0.8871977 -0.19534901] yaw=-61.1deg [env.py: 1019] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24830493 -1.04058799 -0.19534901] yaw=-40.0deg [env.py: 1019] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:46:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.0ms, total=222.0ms [env.py: 1075] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -0.887, -0.195) [env.py: 1079] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/12 03:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:46:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:46:42 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 03:46:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 03:46:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:46:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:46:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:46:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.810s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:46:46 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.766[m] 92.208[deg] [grasp_sample.py: 539] +05/12 03:46:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:46:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:46:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:46:49 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:46:54 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:46:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:46:54 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 03:47:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:47:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:47:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.82s (batch: 2.85s, save: 8.97s) [pipeline.py: 300] +05/12 03:47:07 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.86s: + episode_total: mean=48.66s, total=145.97s, count=3, min=249.4ms, max=141695.9ms + sensor_polling: mean=330.2ms, total=92.79s, count=281, min=275.7ms, max=611.4ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8974.1ms, max=8974.1ms + physics_step: mean=21.7ms, total=6.10s, count=281, min=19.4ms, max=35.4ms + save_batch_prep: mean=2.85s, total=2.85s, count=1, min=2846.5ms, max=2846.5ms + task_specific_sample: mean=365.6ms, total=1.10s, count=3, min=244.6ms, max=426.5ms + task_sampling: mean=428.4ms, total=856.8ms, count=2, min=428.0ms, max=428.8ms + task_sampling_failed: mean=249.3ms, total=249.3ms, count=1, min=249.3ms, max=249.3ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=0.9ms, max=2.7ms + mj_forward_sync: mean=402.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:47:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:47:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107236m [env.py: 870] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4572007 -0.83195232 -0.10723615] yaw=-64.0deg [env.py: 1019] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -0.832, -0.107) [env.py: 1079] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 03:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:47:08 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 03:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 03:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:47:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:47:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:47:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.280s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:47:10 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:47:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/debug/chunk_008 [pipeline.py: 1174] +05/12 03:47:11 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 40804) [pipeline.py: 1213] +05/12 03:47:11 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=False episode_total=3.82s: + episode_total: mean=19.53s, total=175.81s, count=9, min=191.3ms, max=157388.1ms + sensor_polling: mean=382.0ms, total=114.59s, count=300, min=323.7ms, max=708.0ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=14.6ms, max=105.3ms + task_specific_sample: mean=473.8ms, total=4.26s, count=9, min=188.4ms, max=1025.2ms + task_sampling: mean=545.5ms, total=3.82s, count=7, min=375.6ms, max=1027.8ms + task_sampling_failed: mean=235.6ms, total=471.1ms, count=2, min=191.3ms, max=279.8ms + scene_randomize: mean=1.3ms, total=11.4ms, count=9, min=0.9ms, max=2.9ms + mj_forward_sync: mean=453.3us, total=4.1ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:47:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:47:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:47:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:47:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:47:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:47:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176712m [env.py: 870] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:47:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45842568 -0.75721758 -0.17671188] yaw=-53.0deg [env.py: 1019] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:47:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.4ms, total=205.5ms [env.py: 1075] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.458, -0.757, -0.177) [env.py: 1079] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 03:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:47:12 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 03:47:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 03:47:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:47:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:47:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:47:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:47:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:47:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:47:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:47:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:47:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:47:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122372m [env.py: 870] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:47:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.2ms, total=186.3ms [env.py: 1105] +05/12 03:47:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:47:13 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:47:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.307s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:47:13 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:47:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:47:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:47:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:47:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:47:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:47:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161980m [env.py: 870] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:47:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48898329 -0.86744378 -0.16198025] yaw=-55.8deg [env.py: 1019] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35651231 -1.16119889 -0.16198025] yaw=-47.8deg [env.py: 1019] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:47:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.3ms [env.py: 1075] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.867, -0.162) [env.py: 1079] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/12 03:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:47:14 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 03:47:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:47:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:47:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:47:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:47:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:47:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:47:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141564m [env.py: 870] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26966423 -1.10406099 -0.14156353] yaw=-51.9deg [env.py: 1019] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23662863 -0.99698638 -0.14156353] yaw=-38.9deg [env.py: 1019] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=728.8ms, total=728.8ms [env.py: 1075] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.104, -0.142) [env.py: 1079] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 03:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:47:16 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 03:47:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:47:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:47:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:47:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.516s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:47:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.728[m] 94.115[deg] [grasp_sample.py: 539] +05/12 03:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:47:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:47:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.754[m] 85.414[deg] [grasp_sample.py: 539] +05/12 03:47:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:47:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:47:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:47:18 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:47:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:47:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:47:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:47:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:47:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:47:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142836m [env.py: 870] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:47:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=247.1ms, total=247.1ms [env.py: 1105] +05/12 03:47:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:47:19 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:47:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:47:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:47:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179725m [env.py: 870] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49088367 -0.8019918 -0.17972504] yaw=-52.9deg [env.py: 1019] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.1ms [env.py: 1075] +05/12 03:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.802, -0.180) [env.py: 1079] +05/12 03:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 03:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/12 03:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:47:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:47:21 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 03:47:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 03:47:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:47:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:47:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:47:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.881s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:47:24 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.777[m] 81.333[deg] [grasp_sample.py: 539] +05/12 03:47:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:47:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:47:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:47:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:47:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:48:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:48:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:48:15 INFO: [Worker 0] Object is not in grasp! 0.00132 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 03:48:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:48:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:48:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:48:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 403 non-colliding grasps [grasp_sample.py: 465] +05/12 03:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.672s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:48:16 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.063[m] 19.551[deg] [grasp_sample.py: 539] +05/12 03:48:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:48:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:48:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:48:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:48:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:48:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:48:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:48:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:48:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:48:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:48:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:48:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.393s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:48:30 INFO: [Worker 0] Feasible grasp found 455 (originally 455): w/ 0.158[m] 15.973[deg] [grasp_sample.py: 539] +05/12 03:48:31 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:48:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:48:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:48:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:48:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:48:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:48:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125542m [env.py: 870] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:48:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1105] +05/12 03:48:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:48:33 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:48:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:48:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:48:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:48:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:48:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:48:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145553m [env.py: 870] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:48:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62380853 -0.9196892 -0.14555328] yaw=-74.9deg [env.py: 1019] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54790547 -0.89318759 -0.14555328] yaw=-64.7deg [env.py: 1019] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:48:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.4ms [env.py: 1075] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.920, -0.146) [env.py: 1079] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.9 deg [env.py: 1082] +05/12 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:48:35 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 03:48:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.868s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:48:35 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 03:48:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:48:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:48:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:48:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:48:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:48:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:48:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:48:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196492m [env.py: 870] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21319992 -1.00716383 -0.19649224] yaw=-55.6deg [env.py: 1019] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19764968 -1.0014099 -0.19649224] yaw=-55.0deg [env.py: 1019] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:48:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.6ms [env.py: 1075] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.007, -0.196) [env.py: 1079] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 03:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:48:36 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 03:48:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 03:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:48:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:48:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:48:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.000s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:48:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.674[m] 88.795[deg] [grasp_sample.py: 539] +05/12 03:48:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:48:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:48:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:48:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.541s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:48:42 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 03:48:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:48:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:48:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:48:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:48:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:48:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:48:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116882m [env.py: 870] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:48:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=170.4ms, total=170.4ms [env.py: 1105] +05/12 03:48:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:48:44 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:48:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:48:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:48:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134141m [env.py: 870] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25055318 -0.97603314 -0.13414086] yaw=-56.6deg [env.py: 1019] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.66695716 -0.95934674 -0.13414086] yaw=-70.5deg [env.py: 1019] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:48:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1075] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -0.976, -0.134) [env.py: 1079] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/12 03:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:48:45 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 03:48:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:48:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:48:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:48:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:48:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.273s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:48:47 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:48:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:48:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:48:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:48:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169899m [env.py: 870] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47743698 -0.84513396 -0.16989855] yaw=-51.0deg [env.py: 1019] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27064103 -1.1732074 -0.16989855] yaw=-34.2deg [env.py: 1019] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.9ms, total=192.9ms [env.py: 1075] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -0.845, -0.170) [env.py: 1079] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 03:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:48:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:48:48 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 03:48:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:48:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:48:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:48:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:48:52 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:48:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.591s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:48:53 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.754[m] 77.968[deg] [grasp_sample.py: 539] +05/12 03:48:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:48:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:48:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:48:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:48:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:49:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:49:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:49:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:49:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:49:09 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.534[m] 60.577[deg] [grasp_sample.py: 539] +05/12 03:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:49:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:49:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:49:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:49:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:49:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:49:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:49:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116277m [env.py: 870] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:49:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:11 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:49:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:49:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56320394 -1.0112916 -0.11627712] yaw=-55.6deg [env.py: 1019] +05/12 03:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=311.5ms, total=311.6ms [env.py: 1075] +05/12 03:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -1.011, -0.116) [env.py: 1079] +05/12 03:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 03:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 03:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:49:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:49:12 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 03:49:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 03:49:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:49:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:49:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:49:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.108s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:49:17 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.722[m] 91.576[deg] [grasp_sample.py: 539] +05/12 03:49:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:49:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:49:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:49:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:49:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:49:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.42s (batch: 3.17s, save: 9.25s) [pipeline.py: 300] +05/12 03:49:24 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.47s: + episode_total: mean=162.26s, total=162.26s, count=1, min=162259.6ms, max=162259.6ms + sensor_polling: mean=354.5ms, total=106.35s, count=300, min=295.4ms, max=853.5ms + save_trajectories: mean=9.25s, total=9.25s, count=1, min=9248.0ms, max=9248.0ms + physics_step: mean=23.5ms, total=7.04s, count=300, min=18.9ms, max=72.7ms + save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3174.9ms, max=3174.9ms + task_sampling: mean=466.4ms, total=466.4ms, count=1, min=466.4ms, max=466.4ms + task_specific_sample: mean=462.6ms, total=462.6ms, count=1, min=462.6ms, max=462.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:49:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:49:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:49:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:49:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:49:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:49:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:49:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:49:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:49:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111792m [env.py: 870] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:49:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21290968 -1.12737274 -0.1117925 ] yaw=-31.7deg [env.py: 1019] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50252066 -0.76290118 -0.1117925 ] yaw=-73.0deg [env.py: 1019] +05/12 03:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:49:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.0ms [env.py: 1075] +05/12 03:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.127, -0.112) [env.py: 1079] +05/12 03:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg [env.py: 1082] +05/12 03:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/12 03:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:49:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:49:26 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 03:49:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 03:49:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:49:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:49:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:49:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:49:29 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.732[m] 78.009[deg] [grasp_sample.py: 539] +05/12 03:49:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:49:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:49:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:49:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:49:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:49:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:49:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:49:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:49:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:49:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:49:54 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.502[m] 61.291[deg] [grasp_sample.py: 539] +05/12 03:49:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:49:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:49:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:49:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:49:59 INFO: [Worker 0] Feasible grasp found 326 (originally 326): w/ 0.206[m] 9.036[deg] [grasp_sample.py: 539] +05/12 03:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:00 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:50:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:50:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:50:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:50:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:50:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189296m [env.py: 870] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:50:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4043923 -0.82452439 -0.18929579] yaw=-59.4deg [env.py: 1019] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:50:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.5ms [env.py: 1075] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.825, -0.189) [env.py: 1079] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 03:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:50:02 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 03:50:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 03:50:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:50:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:50:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.602s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:50:04 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:50:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:50:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:50:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:50:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:50:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101144m [env.py: 870] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:50:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54719684 -0.78498122 -0.10114419] yaw=-57.7deg [env.py: 1019] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:50:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.7ms [env.py: 1075] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -0.785, -0.101) [env.py: 1079] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg [env.py: 1082] +05/12 03:50:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:50:06 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 03:50:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:50:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:50:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:50:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:50:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:50:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:50:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:50:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:50:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:50:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.823s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:50:08 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:50:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:50:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:50:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:50:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:50:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:50:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190064m [env.py: 870] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:50:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61366477 -0.87365728 -0.1900638 ] yaw=-57.9deg [env.py: 1019] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42106636 -1.09049736 -0.1900638 ] yaw=-40.7deg [env.py: 1019] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:50:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1075] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.614, -0.874, -0.190) [env.py: 1079] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/12 03:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:50:09 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 03:50:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 03:50:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:50:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:50:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:50:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.872s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:50:10 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.498[m] 60.633[deg] [grasp_sample.py: 539] +05/12 03:50:11 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:50:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:50:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:50:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:50:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:50:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:50:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:50:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140964m [env.py: 870] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:50:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:50:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.003s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:50:12 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.679[m] 90.468[deg] [grasp_sample.py: 539] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19093705 -1.08634867 -0.14096369] yaw=-47.8deg [env.py: 1019] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2467284 -1.1768783 -0.14096369] yaw=-33.0deg [env.py: 1019] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:50:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:50:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:50:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=996.8ms, total=996.8ms [env.py: 1075] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.086, -0.141) [env.py: 1079] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/12 03:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/12 03:50:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:50:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:50:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:50:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:50:14 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 03:50:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 03:50:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:50:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:50:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:50:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.598s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:50:15 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.756[m] 83.238[deg] [grasp_sample.py: 539] +05/12 03:50:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:50:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:50:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:50:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:50:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:50:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:50:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:50:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:50:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.275s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:50:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.518[m] 62.877[deg] [grasp_sample.py: 539] +05/12 03:50:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:50:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:50:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:50:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:50:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:50:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:50:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:50:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:50:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.525s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:50:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 62.178[deg] [grasp_sample.py: 539] +05/12 03:50:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:50:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:50:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:51:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:51:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:51:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:51:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:51:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.463s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:51:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 62.180[deg] [grasp_sample.py: 539] +05/12 03:51:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:51:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:51:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:51:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:51:14 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:51:14 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:51:14 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=False episode_total=4.65s: + episode_total: mean=19.36s, total=232.34s, count=12, min=178.4ms, max=74187.4ms + sensor_polling: mean=316.4ms, total=116.43s, count=368, min=289.2ms, max=586.0ms + physics_step: mean=20.0ms, total=7.37s, count=368, min=12.8ms, max=30.0ms + task_specific_sample: mean=421.1ms, total=5.05s, count=12, min=175.0ms, max=920.7ms + task_sampling: mean=465.1ms, total=4.65s, count=10, min=388.5ms, max=923.3ms + task_sampling_failed: mean=216.6ms, total=433.3ms, count=2, min=178.4ms, max=254.9ms + scene_randomize: mean=1.2ms, total=14.0ms, count=12, min=0.9ms, max=2.1ms + mj_forward_sync: mean=400.5us, total=4.8ms, count=12, min=0.4ms, max=0.6ms + policy_setup: mean=14.1us, total=0.1ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172985m [env.py: 870] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61614909 -0.8750687 -0.17298476] yaw=-68.2deg [env.py: 1019] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54585025 -0.95656604 -0.17298476] yaw=-53.1deg [env.py: 1019] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14199688 -1.09497922 -0.17298476] yaw=-48.8deg [env.py: 1019] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.4ms [env.py: 1075] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.875, -0.173) [env.py: 1079] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg [env.py: 1082] +05/12 03:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:51:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:51:16 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 03:51:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 03:51:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:51:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:51:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:51:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:51:19 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.735[m] 75.572[deg] [grasp_sample.py: 539] +05/12 03:51:20 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179965m [env.py: 870] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.6ms, total=205.6ms [env.py: 1105] +05/12 03:51:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:51:21 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:51:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102564m [env.py: 870] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1105] +05/12 03:51:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:51:23 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:51:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156323m [env.py: 870] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.3ms, total=225.3ms [env.py: 1105] +05/12 03:51:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:51:24 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:51:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:51:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124503m [env.py: 870] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1105] +05/12 03:51:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:51:25 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:51:26 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102942m [env.py: 870] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17262577 -1.01052858 -0.10294153] yaw=-33.1deg [env.py: 1019] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=315.2ms, total=315.2ms [env.py: 1075] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.011, -0.103) [env.py: 1079] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.1 deg [env.py: 1082] +05/12 03:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:51:27 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 03:51:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 03:51:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:51:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:51:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:51:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:51:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.353s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:51:29 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:51:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162823m [env.py: 870] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=297.7ms, total=297.8ms [env.py: 1105] +05/12 03:51:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:51:30 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165567m [env.py: 870] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30280044 -1.09456589 -0.16556665] yaw=-53.2deg [env.py: 1019] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:51:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.9ms, total=263.0ms [env.py: 1075] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.303, -1.095, -0.166) [env.py: 1079] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 03:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:51:32 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 03:51:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 03:51:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:51:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:51:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:51:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.648s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:51:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.712[m] 88.101[deg] [grasp_sample.py: 539] +05/12 03:51:35 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:51:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191544m [env.py: 870] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38611557 -1.09507407 -0.19154417] yaw=-51.2deg [env.py: 1019] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:51:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=204.9ms [env.py: 1075] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.095, -0.192) [env.py: 1079] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 03:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:51:37 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 03:51:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 03:51:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:51:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:51:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:51:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.028s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:51:40 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.648[m] 83.253[deg] [grasp_sample.py: 539] +05/12 03:51:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:51:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:51:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:51:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:51:45 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:51:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 03:51:45 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 03:51:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:51:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:51:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.80s (batch: 3.11s, save: 8.69s) [pipeline.py: 300] +05/12 03:51:57 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.40s: + episode_total: mean=151.84s, total=151.84s, count=1, min=151837.5ms, max=151837.5ms + sensor_polling: mean=380.2ms, total=107.58s, count=283, min=293.5ms, max=833.1ms + save_trajectories: mean=8.69s, total=8.69s, count=1, min=8694.1ms, max=8694.1ms + physics_step: mean=23.8ms, total=6.74s, count=283, min=14.7ms, max=123.0ms + save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3105.8ms, max=3105.8ms + task_sampling: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms + task_specific_sample: mean=396.7ms, total=396.7ms, count=1, min=396.7ms, max=396.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=410.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:51:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:51:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:51:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:51:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:51:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:51:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:51:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103786m [env.py: 870] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:51:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:51:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.9ms, total=213.9ms [env.py: 1105] +05/12 03:51:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:51:59 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:52:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:52:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:52:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:52:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:52:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:52:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:52:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150781m [env.py: 870] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:52:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37921394 -0.83257507 -0.15078131] yaw=-68.0deg [env.py: 1019] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:52:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.8ms, total=208.9ms [env.py: 1075] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -0.833, -0.151) [env.py: 1079] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 03:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:52:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:52:00 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 03:52:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 03:52:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:52:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:52:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:52:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.293s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:52:02 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:52:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:52:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:52:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:52:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:52:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:52:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:52:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138062m [env.py: 870] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:52:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.0ms, total=208.1ms [env.py: 1105] +05/12 03:52:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:52:03 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:52:05 WARNING: [Worker 0] No trajectory data to save for chunk_008 [pipeline.py: 234] +05/12 03:52:05 WARNING: [Worker 0] No trajectory data to save for chunk_008 [pipeline.py: 234] +05/12 03:52:05 INFO: [Worker 0] Worker 0 completed house 1: 12/17 successful episodes [pipeline.py: 1323] +05/12 03:52:05 INFO: [Worker 0] [PROFILE] House 1 complete: 12/17 successful, 17 episodes, total_time=4912.70s + House averages: + episode_total: mean=39.37s, total=2834.59s, count=72, min=175.9ms, max=190585.5ms + sensor_polling: mean=352.6ms, total=1746.50s, count=4953, min=293.5ms, max=853.5ms + physics_step: mean=22.9ms, total=113.19s, count=4953, min=13.2ms, max=123.0ms + save_trajectories: mean=9.21s, total=110.50s, count=12, min=8245.7ms, max=10545.8ms + save_batch_prep: mean=3.19s, total=38.23s, count=12, min=2873.4ms, max=3838.9ms + task_specific_sample: mean=410.7ms, total=29.57s, count=72, min=170.7ms, max=870.8ms + task_sampling: mean=542.9ms, total=24.97s, count=46, min=317.5ms, max=3559.7ms + task_sampling_failed: mean=300.5ms, total=7.81s, count=26, min=175.9ms, max=819.0ms + scene_load: mean=2.98s, total=2.98s, count=1, min=2980.4ms, max=2980.4ms + scene_env_create: mean=1.68s, total=1.68s, count=1, min=1680.9ms, max=1680.9ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1156.2ms, max=1156.2ms + compile_mujoco: mean=704.9ms, total=704.9ms, count=1, min=704.9ms, max=704.9ms + compile_xml_load: mean=364.9ms, total=364.9ms, count=1, min=364.9ms, max=364.9ms + scene_init: mean=99.8ms, total=99.8ms, count=1, min=99.8ms, max=99.8ms + scene_randomize: mean=1.3ms, total=97.2ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=50.0ms, total=50.0ms, count=1, min=50.0ms, max=50.0ms + compile_aux_policy_objects: mean=50.0ms, total=50.0ms, count=1, min=50.0ms, max=50.0ms + scene_asset_install: mean=43.2ms, total=43.2ms, count=1, min=43.2ms, max=43.2ms + mj_forward_sync: mean=432.0us, total=31.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + compile_robot_add: mean=23.4ms, total=23.4ms, count=1, min=23.4ms, max=23.4ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=16.2us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 03:52:05 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 03:52:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=4912.70s + Worker averages: + episode_total: mean=39.37s, total=2834.59s, count=72, min=175.9ms, max=190585.5ms + sensor_polling: mean=352.6ms, total=1746.50s, count=4953, min=293.5ms, max=853.5ms + physics_step: mean=22.9ms, total=113.19s, count=4953, min=13.2ms, max=123.0ms + save_trajectories: mean=9.21s, total=110.50s, count=12, min=8245.7ms, max=10545.8ms + save_batch_prep: mean=3.19s, total=38.23s, count=12, min=2873.4ms, max=3838.9ms + task_specific_sample: mean=410.7ms, total=29.57s, count=72, min=170.7ms, max=870.8ms + task_sampling: mean=542.9ms, total=24.97s, count=46, min=317.5ms, max=3559.7ms + task_sampling_failed: mean=300.5ms, total=7.81s, count=26, min=175.9ms, max=819.0ms + scene_load: mean=2.98s, total=2.98s, count=1, min=2980.4ms, max=2980.4ms + scene_env_create: mean=1.68s, total=1.68s, count=1, min=1680.9ms, max=1680.9ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1156.2ms, max=1156.2ms + compile_mujoco: mean=704.9ms, total=704.9ms, count=1, min=704.9ms, max=704.9ms + compile_xml_load: mean=364.9ms, total=364.9ms, count=1, min=364.9ms, max=364.9ms + scene_init: mean=99.8ms, total=99.8ms, count=1, min=99.8ms, max=99.8ms + scene_randomize: mean=1.3ms, total=97.2ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=50.0ms, total=50.0ms, count=1, min=50.0ms, max=50.0ms + compile_aux_policy_objects: mean=50.0ms, total=50.0ms, count=1, min=50.0ms, max=50.0ms + scene_asset_install: mean=43.2ms, total=43.2ms, count=1, min=43.2ms, max=43.2ms + mj_forward_sync: mean=432.0us, total=31.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.6ms, total=29.6ms, count=1, min=29.6ms, max=29.6ms + compile_robot_add: mean=23.4ms, total=23.4ms, count=1, min=23.4ms, max=23.4ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=16.2us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 03:52:07 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 03:52:07 INFO: Success count: 12, Total count: 17 [pipeline.py: 1491] +05/12 03:52:07 INFO: Success rate: 70.59% [pipeline.py: 1492] +05/12 03:52:15 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:52:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:52:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:52:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:52:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:52:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:52:36 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 03:52:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:52:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:52:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.18s (batch: 3.45s, save: 8.73s) [pipeline.py: 300] +05/12 03:52:48 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=2.66s: + episode_total: mean=54.89s, total=329.35s, count=6, min=195.8ms, max=156194.4ms + sensor_polling: mean=385.1ms, total=210.27s, count=546, min=303.7ms, max=710.0ms + physics_step: mean=22.4ms, total=12.24s, count=546, min=14.4ms, max=105.2ms + save_trajectories: mean=8.73s, total=8.73s, count=1, min=8731.5ms, max=8731.5ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3451.6ms, max=3451.6ms + task_specific_sample: mean=507.5ms, total=3.04s, count=6, min=191.7ms, max=1267.0ms + task_sampling: mean=664.2ms, total=2.66s, count=4, min=417.5ms, max=1269.9ms + task_sampling_failed: mean=204.1ms, total=408.3ms, count=2, min=195.7ms, max=212.6ms + scene_randomize: mean=1.4ms, total=8.2ms, count=6, min=1.0ms, max=1.8ms + mj_forward_sync: mean=393.8us, total=2.4ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:52:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:52:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:52:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:52:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:52:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:52:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:52:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177811m [env.py: 870] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:52:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.0ms, total=216.0ms [env.py: 1105] +05/12 03:52:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:52:50 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:52:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:52:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:52:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:52:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:52:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:52:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:52:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146556m [env.py: 870] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:52:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.8ms, total=206.8ms [env.py: 1105] +05/12 03:52:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:52:51 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:52:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:52:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:52:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:52:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:52:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:52:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:52:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108618m [env.py: 870] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:52:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48605923 -0.94618386 -0.10861773] yaw=-60.7deg [env.py: 1019] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.6ms [env.py: 1075] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.946, -0.109) [env.py: 1079] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/12 03:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:52:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:52:53 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 03:52:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 03:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:52:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:52:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:53:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.681s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:53:03 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.762[m] 85.543[deg] [grasp_sample.py: 539] +05/12 03:53:04 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:53:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:53:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:53:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:53:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:53:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:53:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:53:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126427m [env.py: 870] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:53:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24143759 -1.05664089 -0.12642659] yaw=-37.7deg [env.py: 1019] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46016488 -0.99974614 -0.12642659] yaw=-62.5deg [env.py: 1019] +05/12 03:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:53:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.2ms, total=261.3ms [env.py: 1075] +05/12 03:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -1.057, -0.126) [env.py: 1079] +05/12 03:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/12 03:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 03:53:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:53:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:53:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:53:06 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 03:53:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 03:53:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:53:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:53:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:53:13 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:53:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.250s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:53:15 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.745[m] 89.559[deg] [grasp_sample.py: 539] +05/12 03:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:53:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:53:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:53:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 03:53:31 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:53:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 03:53:31 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 03:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:53:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:53:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 10.84s (batch: 2.89s, save: 7.95s) [pipeline.py: 300] +05/12 03:53:43 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=1.92s: + episode_total: mean=15.26s, total=137.31s, count=9, min=202.2ms, max=126596.5ms + sensor_polling: mean=317.3ms, total=84.08s, count=265, min=288.0ms, max=580.9ms + save_trajectories: mean=7.95s, total=7.95s, count=1, min=7954.3ms, max=7954.3ms + physics_step: mean=21.2ms, total=5.61s, count=265, min=14.8ms, max=47.9ms + task_specific_sample: mean=339.7ms, total=3.06s, count=9, min=199.2ms, max=572.4ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2888.3ms, max=2888.3ms + task_sampling: mean=478.8ms, total=1.92s, count=4, min=409.8ms, max=574.4ms + task_sampling_failed: mean=233.6ms, total=1.17s, count=5, min=202.2ms, max=305.4ms + scene_randomize: mean=1.1ms, total=10.1ms, count=9, min=0.9ms, max=2.1ms + mj_forward_sync: mean=393.1us, total=3.5ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:53:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:53:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:53:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:53:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:53:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:53:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:53:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151173m [env.py: 870] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:53:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30630743 -1.10586072 -0.15117261] yaw=-50.5deg [env.py: 1019] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25216898 -1.16427013 -0.15117261] yaw=-39.0deg [env.py: 1019] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2435833 -0.89621274 -0.15117261] yaw=-39.8deg [env.py: 1019] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:53:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -1.106, -0.151) [env.py: 1079] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/12 03:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:53:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:53:44 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 03:53:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 03:53:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:53:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:53:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:53:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.287s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:53:47 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.694[m] 78.580[deg] [grasp_sample.py: 539] +05/12 03:53:48 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:53:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:53:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:53:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:53:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:53:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:53:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:53:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:53:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:53:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167439m [env.py: 870] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:53:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.5ms, total=197.5ms [env.py: 1105] +05/12 03:53:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:53:49 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:53:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:53:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:53:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:53:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:53:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:53:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:53:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:53:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:53:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170209m [env.py: 870] +05/12 03:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:53:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64897265 -0.94741225 -0.17020937] yaw=-71.8deg [env.py: 1019] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40267037 -0.83655462 -0.17020937] yaw=-69.0deg [env.py: 1019] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:53:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1075] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.947, -0.170) [env.py: 1079] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.8 deg [env.py: 1082] +05/12 03:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:53:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:53:51 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 03:53:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 03:53:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:53:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:53:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:53:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.179s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:53:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.648[m] 77.618[deg] [grasp_sample.py: 539] +05/12 03:53:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:53:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:53:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:54:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:54:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:54:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:54:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:54:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:54:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.948s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:54:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.484[m] 54.015[deg] [grasp_sample.py: 539] +05/12 03:54:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:54:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:54:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:54:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:54:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:54:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:54:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.990s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:54:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.484[m] 54.015[deg] [grasp_sample.py: 539] +05/12 03:54:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:54:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:54:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:54:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 03:54:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:54:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:54:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:54:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.913s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:54:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.484[m] 54.015[deg] [grasp_sample.py: 539] +05/12 03:54:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:54:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:54:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 03:54:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 03:54:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 03:54:52 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 03:54:52 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=False episode_total=0.87s: + episode_total: mean=22.00s, total=65.99s, count=3, min=205.6ms, max=61840.1ms + sensor_polling: mean=305.6ms, total=22.62s, count=74, min=288.6ms, max=328.3ms + physics_step: mean=17.4ms, total=1.29s, count=74, min=12.6ms, max=21.7ms + task_specific_sample: mean=356.2ms, total=1.07s, count=3, min=202.2ms, max=448.5ms + task_sampling: mean=436.1ms, total=872.2ms, count=2, min=420.0ms, max=452.2ms + task_sampling_failed: mean=205.6ms, total=205.6ms, count=1, min=205.6ms, max=205.6ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.0ms, max=2.6ms + mj_forward_sync: mean=405.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:54:53 WARNING: [Worker 0] No trajectory data to save for chunk_008 [pipeline.py: 234] +05/12 03:54:53 WARNING: [Worker 0] No trajectory data to save for chunk_008 [pipeline.py: 234] +05/12 03:54:53 INFO: [Worker 0] Worker 0 completed house 1: 14/17 successful episodes [pipeline.py: 1323] +05/12 03:54:53 INFO: [Worker 0] [PROFILE] House 1 complete: 14/17 successful, 17 episodes, total_time=5213.48s + House averages: + episode_total: mean=41.74s, total=3005.02s, count=72, min=164.9ms, max=180891.6ms + sensor_polling: mean=349.5ms, total=1838.22s, count=5259, min=275.7ms, max=778.6ms + save_trajectories: mean=9.33s, total=130.68s, count=14, min=7954.3ms, max=11786.3ms + physics_step: mean=22.6ms, total=118.87s, count=5259, min=12.6ms, max=120.3ms + save_batch_prep: mean=3.46s, total=48.51s, count=14, min=2846.5ms, max=3863.0ms + task_specific_sample: mean=435.6ms, total=31.37s, count=72, min=162.5ms, max=947.6ms + task_sampling: mean=506.9ms, total=27.37s, count=54, min=349.1ms, max=951.5ms + task_sampling_failed: mean=385.4ms, total=6.94s, count=18, min=164.9ms, max=3014.0ms + scene_load: mean=2.74s, total=2.74s, count=1, min=2735.4ms, max=2735.4ms + scene_env_create: mean=1.77s, total=1.77s, count=1, min=1769.9ms, max=1769.9ms + scene_compile: mean=816.6ms, total=816.6ms, count=1, min=816.6ms, max=816.6ms + compile_mujoco: mean=537.0ms, total=537.0ms, count=1, min=537.0ms, max=537.0ms + compile_xml_load: mean=214.4ms, total=214.4ms, count=1, min=214.4ms, max=214.4ms + scene_init: mean=98.4ms, total=98.4ms, count=1, min=98.4ms, max=98.4ms + scene_randomize: mean=1.4ms, total=97.3ms, count=72, min=0.9ms, max=2.7ms + scene_asset_install: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + compile_aux_policy_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + asset_install_grasps: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + mj_forward_sync: mean=415.6us, total=29.9ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=13.7us, total=0.7ms, count=54, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 03:54:53 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 03:54:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=5213.48s + Worker averages: + episode_total: mean=41.74s, total=3005.02s, count=72, min=164.9ms, max=180891.6ms + sensor_polling: mean=349.5ms, total=1838.22s, count=5259, min=275.7ms, max=778.6ms + save_trajectories: mean=9.33s, total=130.68s, count=14, min=7954.3ms, max=11786.3ms + physics_step: mean=22.6ms, total=118.87s, count=5259, min=12.6ms, max=120.3ms + save_batch_prep: mean=3.46s, total=48.51s, count=14, min=2846.5ms, max=3863.0ms + task_specific_sample: mean=435.6ms, total=31.37s, count=72, min=162.5ms, max=947.6ms + task_sampling: mean=506.9ms, total=27.37s, count=54, min=349.1ms, max=951.5ms + task_sampling_failed: mean=385.4ms, total=6.94s, count=18, min=164.9ms, max=3014.0ms + scene_load: mean=2.74s, total=2.74s, count=1, min=2735.4ms, max=2735.4ms + scene_env_create: mean=1.77s, total=1.77s, count=1, min=1769.9ms, max=1769.9ms + scene_compile: mean=816.6ms, total=816.6ms, count=1, min=816.6ms, max=816.6ms + compile_mujoco: mean=537.0ms, total=537.0ms, count=1, min=537.0ms, max=537.0ms + compile_xml_load: mean=214.4ms, total=214.4ms, count=1, min=214.4ms, max=214.4ms + scene_init: mean=98.4ms, total=98.4ms, count=1, min=98.4ms, max=98.4ms + scene_randomize: mean=1.4ms, total=97.3ms, count=72, min=0.9ms, max=2.7ms + scene_asset_install: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + compile_aux_policy_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + asset_install_grasps: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + mj_forward_sync: mean=415.6us, total=29.9ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=13.7us, total=0.7ms, count=54, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 03:54:56 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 03:54:56 INFO: Success count: 14, Total count: 17 [pipeline.py: 1491] +05/12 03:54:56 INFO: Success rate: 82.35% [pipeline.py: 1492] +05/12 03:55:02 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:55:23 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:55:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:55:23 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 03:55:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:55:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:55:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 11.94s (batch: 3.22s, save: 8.71s) [pipeline.py: 300] +05/12 03:55:35 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.91s: + episode_total: mean=40.44s, total=161.78s, count=4, min=214.9ms, max=149992.6ms + sensor_polling: mean=347.1ms, total=98.92s, count=285, min=305.9ms, max=592.3ms + save_trajectories: mean=8.71s, total=8.71s, count=1, min=8711.7ms, max=8711.7ms + physics_step: mean=20.5ms, total=5.85s, count=285, min=14.2ms, max=46.0ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3224.2ms, max=3224.2ms + task_specific_sample: mean=335.9ms, total=1.34s, count=4, min=211.4ms, max=463.2ms + task_sampling: mean=457.4ms, total=914.7ms, count=2, min=449.1ms, max=465.6ms + task_sampling_failed: mean=221.5ms, total=443.0ms, count=2, min=214.9ms, max=228.1ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=0.9ms, max=2.6ms + mj_forward_sync: mean=396.3us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:55:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:55:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:55:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:55:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:55:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:55:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151937m [env.py: 870] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:55:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2305907 -1.10867097 -0.15193652] yaw=-35.0deg [env.py: 1019] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:55:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.4ms, total=172.5ms [env.py: 1075] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.109, -0.152) [env.py: 1079] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.0 deg [env.py: 1082] +05/12 03:55:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:55:37 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 03:55:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 03:55:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:55:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:55:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:55:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.140s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:55:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.729[m] 87.867[deg] [grasp_sample.py: 539] +05/12 03:55:41 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:55:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:55:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:55:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:55:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:55:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:55:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168072m [env.py: 870] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:55:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4556021 -0.8281061 -0.16807202] yaw=-66.9deg [env.py: 1019] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:55:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=292.5ms, total=292.5ms [env.py: 1075] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.828, -0.168) [env.py: 1079] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 03:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:55:43 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 03:55:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 03:55:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:55:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:55:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:55:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.717s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:55:53 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.772[m] 86.175[deg] [grasp_sample.py: 539] +05/12 03:55:54 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:55:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:55:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:55:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:55:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:55:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:55:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159075m [env.py: 870] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:55:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=169.5ms, total=169.5ms [env.py: 1105] +05/12 03:55:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:55:55 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:55:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:55:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:55:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:55:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:55:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:55:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184414m [env.py: 870] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:55:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.2ms, total=156.2ms [env.py: 1105] +05/12 03:55:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:55:57 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:55:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:55:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:55:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:55:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:55:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:55:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161841m [env.py: 870] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:55:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29733681 -0.96872012 -0.16184148] yaw=-40.2deg [env.py: 1019] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52283125 -1.05035238 -0.16184148] yaw=-50.0deg [env.py: 1019] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:55:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=161.2ms, total=161.2ms [env.py: 1075] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -0.969, -0.162) [env.py: 1079] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/12 03:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:55:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:55:58 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 03:55:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 03:55:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:55:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:55:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:56:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.252s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:56:04 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.763[m] 74.047[deg] [grasp_sample.py: 539] +05/12 03:56:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 03:56:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 03:56:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:56:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 03:57:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 03:57:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 03:57:49 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 03:58:09 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_008 [pipeline.py: 1174] +05/12 03:58:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:58:09 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 03:58:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:58:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_008 [save_utils.py: 785] +05/12 03:58:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.09s (batch: 3.28s, save: 8.81s) [pipeline.py: 300] +05/12 03:58:22 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.19s: + episode_total: mean=32.08s, total=160.42s, count=5, min=163.0ms, max=143986.2ms + sensor_polling: mean=339.4ms, total=97.07s, count=286, min=303.5ms, max=623.3ms + save_trajectories: mean=8.81s, total=8.81s, count=1, min=8812.0ms, max=8812.0ms + physics_step: mean=20.0ms, total=5.71s, count=286, min=14.4ms, max=23.3ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3281.6ms, max=3281.6ms + task_specific_sample: mean=303.4ms, total=1.52s, count=5, min=160.7ms, max=457.7ms + task_sampling: mean=396.8ms, total=1.19s, count=3, min=339.8ms, max=460.4ms + task_sampling_failed: mean=170.0ms, total=340.1ms, count=2, min=163.0ms, max=177.1ms + scene_randomize: mean=1.2ms, total=6.1ms, count=5, min=0.9ms, max=2.2ms + mj_forward_sync: mean=384.0us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 03:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:58:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:58:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:58:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156452m [env.py: 870] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16666412 -1.05566097 -0.15645244] yaw=-50.9deg [env.py: 1019] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62622059 -0.83985107 -0.15645244] yaw=-64.1deg [env.py: 1019] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37708189 -0.88475345 -0.15645244] yaw=-53.3deg [env.py: 1019] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=319.5ms, total=319.6ms [env.py: 1075] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -1.056, -0.156) [env.py: 1079] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/12 03:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:58:24 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 03:58:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 03:58:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:58:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:58:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:58:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.057s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:58:26 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:58:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:58:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:58:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:58:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:58:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:58:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160994m [env.py: 870] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:58:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38007958 -1.02903818 -0.16099407] yaw=-58.1deg [env.py: 1019] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=198.1ms, total=198.2ms [env.py: 1075] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -1.029, -0.161) [env.py: 1079] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 03:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:58:28 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 03:58:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 03:58:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:58:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:58:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:58:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.935s, found feasible grasp: True [grasp_sample.py: 500] +05/12 03:58:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.679[m] 79.459[deg] [grasp_sample.py: 539] +05/12 03:58:31 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 03:58:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:58:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:58:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:58:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:58:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:58:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:58:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102376m [env.py: 870] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:58:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.0ms, total=220.0ms [env.py: 1105] +05/12 03:58:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:58:32 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:58:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:58:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:58:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:58:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:58:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:58:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137251m [env.py: 870] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:58:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=192.3ms, total=192.4ms [env.py: 1105] +05/12 03:58:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 03:58:34 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 03:58:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:58:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:58:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:58:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:58:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:58:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183425m [env.py: 870] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:58:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.347748 -0.86961774 -0.18342473] yaw=-62.9deg [env.py: 1019] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:58:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.6ms [env.py: 1075] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -0.870, -0.183) [env.py: 1079] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 03:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:58:35 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 03:58:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 03:58:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:58:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:58:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:58:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.100s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:58:37 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:58:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 03:58:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 03:58:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 03:58:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 03:58:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 03:58:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112215m [env.py: 870] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 03:58:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30934653 -0.87619264 -0.11221475] yaw=-58.7deg [env.py: 1019] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24069692 -1.06563181 -0.11221475] yaw=-49.7deg [env.py: 1019] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27674244 -0.99874829 -0.11221475] yaw=-37.7deg [env.py: 1019] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 03:58:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.1ms, total=182.2ms [env.py: 1075] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -0.876, -0.112) [env.py: 1079] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/12 03:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 03:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 03:58:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 03:58:39 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 03:58:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 03:58:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 03:58:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 03:58:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 03:58:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.067s, found feasible grasp: False [grasp_sample.py: 500] +05/12 03:58:41 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 03:58:42 WARNING: [Worker 0] No trajectory data to save for chunk_008 [pipeline.py: 234] +05/12 03:58:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 03:58:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 03:58:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 03:58:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/debug/chunk_008 [save_utils.py: 785] +05/12 03:58:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.65s (batch: 3.36s, save: 9.30s) [pipeline.py: 300] +05/12 03:58:56 INFO: [Worker 0] Worker 0 completed house 1: 13/18 successful episodes [pipeline.py: 1323] +05/12 03:58:56 INFO: [Worker 0] [PROFILE] House 1 complete: 13/18 successful, 18 episodes, total_time=5554.12s + House averages: + episode_total: mean=44.87s, total=3230.82s, count=72, min=163.0ms, max=171848.7ms + sensor_polling: mean=374.3ms, total=1969.41s, count=5262, min=303.5ms, max=729.4ms + save_trajectories: mean=9.39s, total=122.12s, count=13, min=8711.7ms, max=10393.7ms + physics_step: mean=22.2ms, total=116.97s, count=5262, min=13.0ms, max=157.6ms + save_batch_prep: mean=3.45s, total=44.86s, count=13, min=3092.2ms, max=4017.4ms + task_specific_sample: mean=422.6ms, total=30.43s, count=72, min=160.7ms, max=1267.0ms + task_sampling: mean=555.2ms, total=27.76s, count=50, min=339.8ms, max=2993.5ms + task_sampling_failed: mean=248.0ms, total=5.46s, count=22, min=163.0ms, max=763.4ms + scene_load: mean=2.57s, total=2.57s, count=1, min=2567.1ms, max=2567.1ms + scene_env_create: mean=1.50s, total=1.50s, count=1, min=1504.7ms, max=1504.7ms + scene_compile: mean=918.4ms, total=918.4ms, count=1, min=918.4ms, max=918.4ms + compile_mujoco: mean=527.0ms, total=527.0ms, count=1, min=527.0ms, max=527.0ms + compile_xml_load: mean=281.6ms, total=281.6ms, count=1, min=281.6ms, max=281.6ms + scene_init: mean=97.4ms, total=97.4ms, count=1, min=97.4ms, max=97.4ms + scene_randomize: mean=1.3ms, total=96.6ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=91.4ms, total=91.4ms, count=1, min=91.4ms, max=91.4ms + compile_aux_policy_objects: mean=91.4ms, total=91.4ms, count=1, min=91.4ms, max=91.4ms + scene_asset_install: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms + asset_install_grasps: mean=33.2ms, total=33.2ms, count=1, min=33.2ms, max=33.2ms + mj_forward_sync: mean=430.4us, total=31.0ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=14.9us, total=0.7ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 03:58:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 03:58:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=5554.12s + Worker averages: + episode_total: mean=44.87s, total=3230.82s, count=72, min=163.0ms, max=171848.7ms + sensor_polling: mean=374.3ms, total=1969.41s, count=5262, min=303.5ms, max=729.4ms + save_trajectories: mean=9.39s, total=122.12s, count=13, min=8711.7ms, max=10393.7ms + physics_step: mean=22.2ms, total=116.97s, count=5262, min=13.0ms, max=157.6ms + save_batch_prep: mean=3.45s, total=44.86s, count=13, min=3092.2ms, max=4017.4ms + task_specific_sample: mean=422.6ms, total=30.43s, count=72, min=160.7ms, max=1267.0ms + task_sampling: mean=555.2ms, total=27.76s, count=50, min=339.8ms, max=2993.5ms + task_sampling_failed: mean=248.0ms, total=5.46s, count=22, min=163.0ms, max=763.4ms + scene_load: mean=2.57s, total=2.57s, count=1, min=2567.1ms, max=2567.1ms + scene_env_create: mean=1.50s, total=1.50s, count=1, min=1504.7ms, max=1504.7ms + scene_compile: mean=918.4ms, total=918.4ms, count=1, min=918.4ms, max=918.4ms + compile_mujoco: mean=527.0ms, total=527.0ms, count=1, min=527.0ms, max=527.0ms + compile_xml_load: mean=281.6ms, total=281.6ms, count=1, min=281.6ms, max=281.6ms + scene_init: mean=97.4ms, total=97.4ms, count=1, min=97.4ms, max=97.4ms + scene_randomize: mean=1.3ms, total=96.6ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=91.4ms, total=91.4ms, count=1, min=91.4ms, max=91.4ms + compile_aux_policy_objects: mean=91.4ms, total=91.4ms, count=1, min=91.4ms, max=91.4ms + scene_asset_install: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms + asset_install_grasps: mean=33.2ms, total=33.2ms, count=1, min=33.2ms, max=33.2ms + mj_forward_sync: mean=430.4us, total=31.0ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + asset_install_objects: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=14.9us, total=0.7ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 03:58:58 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 03:58:58 INFO: Success count: 13, Total count: 18 [pipeline.py: 1491] +05/12 03:58:58 INFO: Success rate: 72.22% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_009/experiment_config_20260512_040030.pkl b/3drawers/sim_chunks/chunk_009/experiment_config_20260512_040030.pkl new file mode 100644 index 0000000000000000000000000000000000000000..1b65c0f7350376966094a327c49987d1c4cf67c5 --- /dev/null +++ b/3drawers/sim_chunks/chunk_009/experiment_config_20260512_040030.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfa9c285463c25170e61595c73e30fd2a63755905cf917184d22be73a1898a01 +size 8146 diff --git a/3drawers/sim_chunks/chunk_009/experiment_config_20260512_040033.pkl b/3drawers/sim_chunks/chunk_009/experiment_config_20260512_040033.pkl new file mode 100644 index 0000000000000000000000000000000000000000..2ab96d74a761914c81736d2cdab80514b2b145c1 --- /dev/null +++ b/3drawers/sim_chunks/chunk_009/experiment_config_20260512_040033.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddd1b2ffb624355e75413b3ad6292f1851c16ea440ad761ff4541a7cc222eaa0 +size 8146 diff --git a/3drawers/sim_chunks/chunk_009/running_log.log b/3drawers/sim_chunks/chunk_009/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..9dc99fc972013f9e6ce967a9cb69406205d157db --- /dev/null +++ b/3drawers/sim_chunks/chunk_009/running_log.log @@ -0,0 +1,14339 @@ +05/12 04:00:30 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:00:30 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:00:30 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:00:30 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_009'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40901, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:00:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:00:30 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:00:30 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:00:30 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:00:30 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:00:30 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:00:30 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_009'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40902, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:00:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:00:30 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:00:30 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:00:30 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:00:30 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:00:33 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:00:33 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:00:33 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:00:33 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:00:33 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:00:33 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:00:33 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:00:33 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_009'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40904, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:00:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:00:33 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:00:33 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:00:33 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:00:33 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:00:33 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:00:33 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:00:33 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:00:33 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:00:33 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:00:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:00:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:00:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:00:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:00:33 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_009'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 40903, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:00:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:00:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:00:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:00:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:00:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165011m [env.py: 870] +05/12 04:00:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:00:33 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:00:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193046m [env.py: 870] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:00:33 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:00:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:00:33 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:00:33 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24298019 -1.04219988 -0.16501138] yaw=-43.7deg [env.py: 1019] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2747702 -1.0183661 -0.19304646] yaw=-40.1deg [env.py: 1019] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.9ms, retries=506.4ms, total=523.3ms [env.py: 1075] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.018, -0.193) [env.py: 1079] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.4ms, retries=559.6ms, total=576.0ms [env.py: 1075] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -1.042, -0.165) [env.py: 1079] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 04:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:00:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:00:34 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 04:00:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:00:34 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 04:00:35 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:00:35 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:00:35 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:00:35 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:00:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:00:35 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:00:35 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:00:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:00:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:00:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:00:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188631m [env.py: 870] +05/12 04:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:00:35 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:35 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:00:35 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:00:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:00:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165735m [env.py: 870] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:00:36 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51959196 -1.00908679 -0.18863123] yaw=-69.6deg [env.py: 1019] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23624398 -0.95101782 -0.18863123] yaw=-51.5deg [env.py: 1019] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.5ms, retries=278.0ms, total=294.5ms [env.py: 1105] +05/12 04:00:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:00:36 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.6ms, retries=503.9ms, total=520.5ms [env.py: 1075] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -1.009, -0.189) [env.py: 1079] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg [env.py: 1082] +05/12 04:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:00:36 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 04:00:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:00:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:00:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:00:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:00:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:00:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164143m [env.py: 870] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:00:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65022615 -0.98223071 -0.1641435 ] yaw=-73.2deg [env.py: 1019] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22204138 -1.10729929 -0.1641435 ] yaw=-36.3deg [env.py: 1019] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:00:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.0ms [env.py: 1075] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.982, -0.164) [env.py: 1079] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg [env.py: 1082] +05/12 04:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:00:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:00:37 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 04:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 29.680s [base_object_manipulation_planner_policy.py: 377] +05/12 04:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 29.830s [base_object_manipulation_planner_policy.py: 377] +05/12 04:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:05 INFO: [Worker 0] Warmed up parallel IK solver in 29.241s [base_object_manipulation_planner_policy.py: 377] +05/12 04:01:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:07 INFO: [Worker 0] Warmed up parallel IK solver in 29.837s [base_object_manipulation_planner_policy.py: 377] +05/12 04:01:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.684s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.597[m] 96.937[deg] [grasp_sample.py: 539] +05/12 04:01:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:01:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.676s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.628[m] 95.790[deg] [grasp_sample.py: 539] +05/12 04:01:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:01:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:01:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:01:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:01:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:01:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:01:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:01:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.471s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:09 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.740[m] 93.506[deg] [grasp_sample.py: 539] +05/12 04:01:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:01:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:01:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:01:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:01:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.597s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:10 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.718[m] 74.721[deg] [grasp_sample.py: 539] +05/12 04:01:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:01:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:01:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:01:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:01:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:01:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.091s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:34 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.477[m] 71.931[deg] [grasp_sample.py: 539] +05/12 04:01:35 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:01:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:01:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:01:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:01:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:01:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:01:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:01:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:01:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:01:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145245m [env.py: 870] +05/12 04:01:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:01:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.7ms, total=205.7ms [env.py: 1105] +05/12 04:01:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:01:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:01:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:01:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:01:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:01:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:01:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:01:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120182m [env.py: 870] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:01:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25562049 -1.19290943 -0.12018244] yaw=-35.3deg [env.py: 1019] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45970917 -0.83395377 -0.12018244] yaw=-52.4deg [env.py: 1019] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59421996 -0.9559963 -0.12018244] yaw=-71.7deg [env.py: 1019] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:01:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=339.2ms, total=339.2ms [env.py: 1075] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.193, -0.120) [env.py: 1079] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 04:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:01:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:01:39 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 04:01:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:01:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:01:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:01:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:01:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.000s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:45 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.686[m] 85.576[deg] [grasp_sample.py: 539] +05/12 04:01:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:01:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:01:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:01:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:01:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:49 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.468[m] 65.754[deg] [grasp_sample.py: 539] +05/12 04:01:50 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:01:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:01:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:01:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:01:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:01:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:01:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:01:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:01:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:01:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190675m [env.py: 870] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:01:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.2ms, total=213.3ms [env.py: 1105] +05/12 04:01:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:01:52 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:01:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:01:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:01:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:01:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:01:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:01:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:01:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137656m [env.py: 870] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:01:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43464578 -1.0992109 -0.137656 ] yaw=-61.5deg [env.py: 1019] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:01:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.7ms, total=233.7ms [env.py: 1075] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.099, -0.138) [env.py: 1079] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg [env.py: 1082] +05/12 04:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:01:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:01:53 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 04:01:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:01:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:01:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:01:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:01:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:01:55 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.621[m] 87.629[deg] [grasp_sample.py: 539] +05/12 04:01:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:01:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:01:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:02:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:02:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:02:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:02:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:02:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:02:51 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:02:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:03:04 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:03:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:03:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:03:13 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 04:03:24 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:03:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:03:24 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 04:03:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:03:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:03:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.83s (batch: 4.25s, save: 9.58s) [pipeline.py: 300] +05/12 04:03:28 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.88s: + episode_total: mean=177.79s, total=177.79s, count=1, min=177788.2ms, max=177788.2ms + sensor_polling: mean=328.7ms, total=93.36s, count=284, min=298.5ms, max=459.9ms + save_trajectories: mean=9.58s, total=9.58s, count=1, min=9580.8ms, max=9580.8ms + physics_step: mean=21.3ms, total=6.06s, count=284, min=14.8ms, max=27.8ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.4ms, max=4252.4ms + task_sampling: mean=3.88s, total=3.88s, count=1, min=3879.0ms, max=3879.0ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2891.2ms, max=2891.2ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1566.1ms, max=1566.1ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1183.6ms, max=1183.6ms + task_specific_sample: mean=985.5ms, total=985.5ms, count=1, min=985.5ms, max=985.5ms + compile_mujoco: mean=716.9ms, total=716.9ms, count=1, min=716.9ms, max=716.9ms + compile_xml_load: mean=384.5ms, total=384.5ms, count=1, min=384.5ms, max=384.5ms + scene_init: mean=98.3ms, total=98.3ms, count=1, min=98.3ms, max=98.3ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + scene_randomize: mean=906.2us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=366.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=34.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:03:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160666m [env.py: 870] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=175.8ms, total=175.9ms [env.py: 1105] +05/12 04:03:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:03:29 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173039m [env.py: 870] +05/12 04:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=558.6ms, total=558.6ms [env.py: 1105] +05/12 04:03:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:03:31 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:03:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173565m [env.py: 870] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4680599 -1.04125007 -0.17356475] yaw=-62.6deg [env.py: 1019] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:03:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.2ms [env.py: 1075] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -1.041, -0.174) [env.py: 1079] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 04:03:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:03:33 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 04:03:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 04:03:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:03:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:03:33 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:03:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:03:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:03:34 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.638[m] 89.787[deg] [grasp_sample.py: 539] +05/12 04:03:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:03:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:03:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:03:35 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:03:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:03:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:03:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.03s (batch: 3.53s, save: 9.50s) [pipeline.py: 300] +05/12 04:03:38 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.87s: + episode_total: mean=188.41s, total=188.41s, count=1, min=188410.8ms, max=188410.8ms + sensor_polling: mean=376.2ms, total=104.59s, count=278, min=304.5ms, max=508.9ms + save_trajectories: mean=9.50s, total=9.50s, count=1, min=9499.2ms, max=9499.2ms + physics_step: mean=24.1ms, total=6.69s, count=278, min=15.2ms, max=51.6ms + task_sampling: mean=3.87s, total=3.87s, count=1, min=3868.9ms, max=3868.9ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3528.1ms, max=3528.1ms + scene_load: mean=3.02s, total=3.02s, count=1, min=3019.4ms, max=3019.4ms + scene_env_create: mean=1.63s, total=1.63s, count=1, min=1627.0ms, max=1627.0ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1245.6ms, max=1245.6ms + task_specific_sample: mean=846.9ms, total=846.9ms, count=1, min=846.9ms, max=846.9ms + compile_mujoco: mean=655.6ms, total=655.6ms, count=1, min=655.6ms, max=655.6ms + compile_xml_load: mean=507.9ms, total=507.9ms, count=1, min=507.9ms, max=507.9ms + scene_init: mean=98.9ms, total=98.9ms, count=1, min=98.9ms, max=98.9ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + asset_install_grasps: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + scene_randomize: mean=913.8us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=397.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180547m [env.py: 870] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25582629 -1.20843104 -0.1805471 ] yaw=-38.9deg [env.py: 1019] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:03:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.3ms, total=177.3ms [env.py: 1075] +05/12 04:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.208, -0.181) [env.py: 1079] +05/12 04:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg [env.py: 1082] +05/12 04:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 04:03:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:03:40 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 04:03:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 04:03:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:03:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:03:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:03:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:03:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.682[m] 90.032[deg] [grasp_sample.py: 539] +05/12 04:03:43 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:03:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142610m [env.py: 870] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=246.1ms, total=246.1ms [env.py: 1105] +05/12 04:03:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:03:45 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:03:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185709m [env.py: 870] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.1ms, total=213.1ms [env.py: 1105] +05/12 04:03:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:03:46 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128034m [env.py: 870] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59214978 -0.85863331 -0.12803443] yaw=-77.6deg [env.py: 1019] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30771378 -1.06847526 -0.12803443] yaw=-45.6deg [env.py: 1019] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:03:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.859, -0.128) [env.py: 1079] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.6 deg [env.py: 1082] +05/12 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:03:48 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 04:03:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:03:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:03:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:03:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:03:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:03:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.749[m] 99.906[deg] [grasp_sample.py: 539] +05/12 04:03:51 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:03:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:03:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:03:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:03:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:03:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:03:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171183m [env.py: 870] +05/12 04:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:03:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:03:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:03:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:03:53 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4820419 -0.90349612 -0.17118285] yaw=-54.3deg [env.py: 1019] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:03:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=191.6ms, total=191.7ms [env.py: 1075] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.903, -0.171) [env.py: 1079] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 04:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 04:03:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:03:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:03:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:03:53 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 04:03:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:03:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:03:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:03:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:03:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:03:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:03:54 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/12 04:03:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:03:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 89.934[deg] [grasp_sample.py: 539] +05/12 04:03:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:03:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:03:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:03:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:04:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:04:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:04:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.62s (batch: 3.73s, save: 8.89s) [pipeline.py: 300] +05/12 04:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:04:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:04:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.58s (batch: 3.32s, save: 8.26s) [pipeline.py: 300] +05/12 04:04:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s: + episode_total: mean=52.41s, total=209.66s, count=4, min=217.4ms, max=147809.8ms + sensor_polling: mean=360.5ms, total=113.56s, count=315, min=318.9ms, max=626.1ms + save_trajectories: mean=8.89s, total=8.89s, count=1, min=8885.2ms, max=8885.2ms + physics_step: mean=21.8ms, total=6.85s, count=315, min=15.4ms, max=36.5ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3734.1ms, max=3734.1ms + task_sampling_failed: mean=1.70s, total=3.41s, count=2, min=217.4ms, max=3189.4ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2886.7ms, max=2886.7ms + task_specific_sample: mean=392.2ms, total=1.57s, count=4, min=210.5ms, max=663.8ms + scene_compile: mean=1.38s, total=1.38s, count=1, min=1377.6ms, max=1377.6ms + scene_env_create: mean=1.37s, total=1.37s, count=1, min=1368.8ms, max=1368.8ms + task_sampling: mean=531.8ms, total=1.06s, count=2, min=396.9ms, max=666.7ms + compile_mujoco: mean=692.7ms, total=692.7ms, count=1, min=692.7ms, max=692.7ms + compile_xml_load: mean=422.9ms, total=422.9ms, count=1, min=422.9ms, max=422.9ms + compile_aux_objects: mean=225.0ms, total=225.0ms, count=1, min=225.0ms, max=225.0ms + compile_aux_policy_objects: mean=225.0ms, total=225.0ms, count=1, min=225.0ms, max=225.0ms + scene_init: mean=97.9ms, total=97.9ms, count=1, min=97.9ms, max=97.9ms + scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms + asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + compile_robot_add: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + scene_randomize: mean=1.1ms, total=4.3ms, count=4, min=1.0ms, max=1.2ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=443.0us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:04:06 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=3.94s: + episode_total: mean=70.33s, total=211.00s, count=3, min=222.1ms, max=133536.3ms + sensor_polling: mean=353.5ms, total=110.28s, count=312, min=299.5ms, max=572.1ms + save_trajectories: mean=8.26s, total=8.26s, count=1, min=8264.0ms, max=8264.0ms + physics_step: mean=22.5ms, total=7.02s, count=312, min=14.8ms, max=45.2ms + task_sampling: mean=1.97s, total=3.94s, count=2, min=455.6ms, max=3482.3ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3319.9ms, max=3319.9ms + scene_load: mean=2.72s, total=2.72s, count=1, min=2717.6ms, max=2717.6ms + task_specific_sample: mean=478.1ms, total=1.43s, count=3, min=218.6ms, max=762.4ms + scene_env_create: mean=1.39s, total=1.39s, count=1, min=1385.3ms, max=1385.3ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1155.2ms, max=1155.2ms + compile_mujoco: mean=680.2ms, total=680.2ms, count=1, min=680.2ms, max=680.2ms + compile_xml_load: mean=369.0ms, total=369.0ms, count=1, min=369.0ms, max=369.0ms + task_sampling_failed: mean=222.0ms, total=222.0ms, count=1, min=222.0ms, max=222.0ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + compile_aux_objects: mean=87.4ms, total=87.4ms, count=1, min=87.4ms, max=87.4ms + compile_aux_policy_objects: mean=87.4ms, total=87.4ms, count=1, min=87.4ms, max=87.4ms + scene_asset_install: mean=79.3ms, total=79.3ms, count=1, min=79.3ms, max=79.3ms + asset_install_grasps: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms + compile_robot_add: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + asset_install_objects: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=0.9ms, max=1.3ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=422.7us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:04:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161352m [env.py: 870] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24625179 -1.20392785 -0.16135164] yaw=-47.8deg [env.py: 1019] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:04:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.1ms, total=219.2ms [env.py: 1075] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -1.204, -0.161) [env.py: 1079] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/12 04:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:04:08 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 04:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146716m [env.py: 870] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 04:04:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:04:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3142865 -1.22956976 -0.14671557] yaw=-45.5deg [env.py: 1019] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=184.0ms [env.py: 1075] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.230, -0.147) [env.py: 1079] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 04:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:04:08 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 04:04:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 04:04:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:04:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:04:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:04:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.578s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:04:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.614[m] 85.499[deg] [grasp_sample.py: 539] +05/12 04:04:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.772s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:04:11 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.690[m] 79.179[deg] [grasp_sample.py: 539] +05/12 04:04:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:04:11 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:04:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:04:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:04:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:04:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139842m [env.py: 870] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52107413 -0.84483187 -0.13984157] yaw=-58.9deg [env.py: 1019] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45650304 -0.85079531 -0.13984157] yaw=-67.0deg [env.py: 1019] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:04:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.9ms [env.py: 1075] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.845, -0.140) [env.py: 1079] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/12 04:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:04:13 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 04:04:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 04:04:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:04:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:04:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:04:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:04:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.068s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:04:21 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.782[m] 93.384[deg] [grasp_sample.py: 539] +05/12 04:04:22 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:04:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172324m [env.py: 870] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36406486 -0.90235697 -0.172324 ] yaw=-63.6deg [env.py: 1019] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:04:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.3ms, total=203.4ms [env.py: 1075] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.902, -0.172) [env.py: 1079] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg [env.py: 1082] +05/12 04:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:04:24 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 04:04:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 04:04:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:04:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:04:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:04:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:04:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:04:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:04:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:04:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.220s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:04:39 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.778[m] 79.338[deg] [grasp_sample.py: 539] +05/12 04:04:40 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:04:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:04:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154965m [env.py: 870] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=255.9ms, total=255.9ms [env.py: 1105] +05/12 04:04:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:04:42 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:04:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:04:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190292m [env.py: 870] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=428.7ms, total=428.7ms [env.py: 1105] +05/12 04:04:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:04:43 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:04:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199061m [env.py: 870] +05/12 04:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.0ms, total=198.0ms [env.py: 1105] +05/12 04:04:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:04:45 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:04:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164666m [env.py: 870] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34553155 -1.12731856 -0.16466591] yaw=-37.0deg [env.py: 1019] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60592158 -0.75264106 -0.16466591] yaw=-77.7deg [env.py: 1019] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25503695 -1.00387079 -0.16466591] yaw=-40.3deg [env.py: 1019] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:04:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms [env.py: 1075] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -1.127, -0.165) [env.py: 1079] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.0 deg [env.py: 1082] +05/12 04:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:04:46 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 04:04:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:04:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 04:04:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:04:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:04:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:04:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.569s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:04:47 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 75.547[deg] [grasp_sample.py: 539] +05/12 04:04:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:04:48 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:04:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107267m [env.py: 870] +05/12 04:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49342461 -1.04742791 -0.10726698] yaw=-45.7deg [env.py: 1019] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:04:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.9ms, total=202.0ms [env.py: 1075] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -1.047, -0.107) [env.py: 1079] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/12 04:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:04:50 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 04:04:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:04:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:04:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:04:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:04:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:04:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.267s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:04:54 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.669[m] 88.966[deg] [grasp_sample.py: 539] +05/12 04:04:55 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:04:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:04:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:04:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:04:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:04:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:04:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104214m [env.py: 870] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:04:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31160279 -1.00910075 -0.10421434] yaw=-51.4deg [env.py: 1019] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:04:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1075] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.009, -0.104) [env.py: 1079] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/12 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:04:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:04:57 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 04:04:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 04:04:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:04:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:04:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:04:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.480s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:04:59 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.757[m] 78.378[deg] [grasp_sample.py: 539] +05/12 04:05:00 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:05:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:05:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:05:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:05:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:05:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:05:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:05:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192145m [env.py: 870] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:05:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24674268 -0.91175512 -0.19214451] yaw=-57.6deg [env.py: 1019] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:05:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=226.6ms, total=226.6ms [env.py: 1075] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.912, -0.192) [env.py: 1079] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:05:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:05:01 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 04:05:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:05:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:05:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:05:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:05:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.453s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:05:03 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:05:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:05:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:05:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:05:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:05:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123201m [env.py: 870] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=411.1ms, total=411.2ms [env.py: 1105] +05/12 04:05:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:05:05 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:05:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:05:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:05:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:05:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:05:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:05:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:05:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171125m [env.py: 870] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:05:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37667134 -0.99025381 -0.17112527] yaw=-59.6deg [env.py: 1019] +05/12 04:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:05:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=380.0ms, total=380.1ms [env.py: 1075] +05/12 04:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -0.990, -0.171) [env.py: 1079] +05/12 04:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg [env.py: 1082] +05/12 04:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 04:05:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:05:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:05:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:05:07 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 04:05:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:05:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:05:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:05:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:05:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:05:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.024s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:05:18 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.745[m] 88.088[deg] [grasp_sample.py: 539] +05/12 04:05:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:05:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:05:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:05:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:05:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:05:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:05:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:05:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:05:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:05:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:05:52 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 04:05:58 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:05:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:05:58 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 04:06:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:06:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:06:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.32s (batch: 3.63s, save: 10.69s) [pipeline.py: 300] +05/12 04:06:07 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s: + episode_total: mean=51.78s, total=155.34s, count=3, min=186.9ms, max=154584.0ms + sensor_polling: mean=363.1ms, total=96.59s, count=266, min=302.2ms, max=674.1ms + save_trajectories: mean=10.69s, total=10.69s, count=1, min=10686.4ms, max=10686.4ms + physics_step: mean=23.8ms, total=6.32s, count=266, min=19.6ms, max=61.5ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3629.0ms, max=3629.0ms + task_specific_sample: mean=390.1ms, total=1.17s, count=3, min=181.6ms, max=563.6ms + task_sampling_failed: mean=376.9ms, total=753.8ms, count=2, min=186.8ms, max=566.9ms + task_sampling: mean=427.0ms, total=427.0ms, count=1, min=427.0ms, max=427.0ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.6ms + mj_forward_sync: mean=426.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:06:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125754m [env.py: 870] +05/12 04:06:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26181244 -1.08562541 -0.12575393] yaw=-39.5deg [env.py: 1019] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:06:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=891.1ms, total=891.1ms [env.py: 1075] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.086, -0.126) [env.py: 1079] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.5 deg [env.py: 1082] +05/12 04:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 04:06:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:06:09 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 04:06:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 04:06:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:06:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:06:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:06:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:06:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:06:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.83s (batch: 3.28s, save: 8.55s) [pipeline.py: 300] +05/12 04:06:10 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.19s: + episode_total: mean=29.08s, total=145.41s, count=5, min=221.0ms, max=137938.4ms + sensor_polling: mean=349.8ms, total=94.80s, count=271, min=300.5ms, max=566.1ms + save_trajectories: mean=8.55s, total=8.55s, count=1, min=8553.0ms, max=8553.0ms + physics_step: mean=23.0ms, total=6.24s, count=271, min=14.9ms, max=50.5ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3278.8ms, max=3278.8ms + task_specific_sample: mean=330.2ms, total=1.65s, count=5, min=218.0ms, max=413.9ms + task_sampling: mean=395.7ms, total=1.19s, count=3, min=384.6ms, max=416.3ms + task_sampling_failed: mean=239.4ms, total=478.9ms, count=2, min=221.0ms, max=257.9ms + scene_randomize: mean=1.4ms, total=6.8ms, count=5, min=1.0ms, max=1.9ms + mj_forward_sync: mean=487.7us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:06:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:06:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.581s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:06:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.725[m] 75.422[deg] [grasp_sample.py: 539] +05/12 04:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124485m [env.py: 870] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24234754 -1.08510591 -0.12448543] yaw=-35.4deg [env.py: 1019] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.2ms [env.py: 1075] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.085, -0.124) [env.py: 1079] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/12 04:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:06:12 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 04:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 04:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:06:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:06:12 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:06:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:06:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126907m [env.py: 870] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=211.0ms, total=211.0ms [env.py: 1105] +05/12 04:06:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:06:14 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193026m [env.py: 870] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:15 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.8ms, total=192.8ms [env.py: 1105] +05/12 04:06:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:06:15 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:06:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124596m [env.py: 870] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=216.6ms, total=216.7ms [env.py: 1105] +05/12 04:06:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:06:17 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:06:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.296s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:06:18 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.730[m] 75.420[deg] [grasp_sample.py: 539] +05/12 04:06:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145444m [env.py: 870] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52706696 -1.04268851 -0.14544377] yaw=-51.2deg [env.py: 1019] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:06:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.3ms, total=215.3ms [env.py: 1075] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -1.043, -0.145) [env.py: 1079] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 04:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:06:19 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 04:06:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:06:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:06:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:06:19 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:06:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:06:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:06:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.637[m] 82.391[deg] [grasp_sample.py: 539] +05/12 04:06:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:06:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147316m [env.py: 870] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.5ms, total=226.6ms [env.py: 1105] +05/12 04:06:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:06:20 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:06:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:06:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:06:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:06:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175244m [env.py: 870] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55750917 -0.86325981 -0.17524354] yaw=-65.1deg [env.py: 1019] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48832431 -1.05891758 -0.17524354] yaw=-62.5deg [env.py: 1019] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:06:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.5ms [env.py: 1075] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.863, -0.175) [env.py: 1079] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg [env.py: 1082] +05/12 04:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:06:22 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 04:06:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 04:06:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:06:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:06:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:06:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:06:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.871s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:06:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.730[m] 95.572[deg] [grasp_sample.py: 539] +05/12 04:06:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:06:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:06:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:06:35 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:06:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:06:35 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 04:06:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:06:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:06:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:06:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:06:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.197s, found 234 non-colliding grasps [grasp_sample.py: 465] +05/12 04:06:41 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.362s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:06:41 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.051[m] 1.084[deg] [grasp_sample.py: 539] +05/12 04:06:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:06:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:06:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:06:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:06:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:06:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:06:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.79s (batch: 4.15s, save: 11.64s) [pipeline.py: 300] +05/12 04:06:52 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s: + episode_total: mean=164.58s, total=164.58s, count=1, min=164580.0ms, max=164580.0ms + sensor_polling: mean=420.4ms, total=114.78s, count=273, min=324.6ms, max=854.0ms + save_trajectories: mean=11.64s, total=11.64s, count=1, min=11638.7ms, max=11638.7ms + physics_step: mean=26.3ms, total=7.17s, count=273, min=15.1ms, max=113.8ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4150.0ms, max=4150.0ms + task_sampling: mean=456.7ms, total=456.7ms, count=1, min=456.7ms, max=456.7ms + task_specific_sample: mean=453.6ms, total=453.6ms, count=1, min=453.6ms, max=453.6ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=52.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:06:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146045m [env.py: 870] +05/12 04:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=572.8ms, total=572.9ms [env.py: 1105] +05/12 04:06:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:06:54 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:06:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:06:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:06:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:06:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:06:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:06:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184326m [env.py: 870] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:06:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60903049 -0.96300207 -0.18432599] yaw=-62.0deg [env.py: 1019] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:06:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms [env.py: 1075] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.963, -0.184) [env.py: 1079] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 04:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:06:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:06:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:06:55 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 04:06:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 04:06:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:06:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:06:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:06:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:06:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.721s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:06:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.653[m] 84.075[deg] [grasp_sample.py: 539] +05/12 04:06:58 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164490m [env.py: 870] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36051729 -1.16995055 -0.16449033] yaw=-40.4deg [env.py: 1019] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34344625 -1.16414639 -0.16449033] yaw=-40.2deg [env.py: 1019] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61113218 -0.95081287 -0.16449033] yaw=-76.9deg [env.py: 1019] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=569.5ms, total=569.5ms [env.py: 1075] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -1.170, -0.164) [env.py: 1079] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg [env.py: 1082] +05/12 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:07:01 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 04:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:07:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:07:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:07:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.608s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:07:04 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.625[m] 92.447[deg] [grasp_sample.py: 539] +05/12 04:07:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:07:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:07:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:07:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:16 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:07:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:07:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:07:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:07:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:07:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:07:24 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.160[m] 14.580[deg] [grasp_sample.py: 539] +05/12 04:07:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:25 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:07:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117423m [env.py: 870] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=205.6ms, total=205.7ms [env.py: 1105] +05/12 04:07:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:07:27 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:07:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157059m [env.py: 870] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.1ms, total=207.1ms [env.py: 1105] +05/12 04:07:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:07:29 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:07:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148558m [env.py: 870] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.68312731 -0.96019688 -0.14855792] yaw=-77.2deg [env.py: 1019] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:07:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.5ms, total=201.6ms [env.py: 1075] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.683, -0.960, -0.149) [env.py: 1079] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.2 deg [env.py: 1082] +05/12 04:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:07:30 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 04:07:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:07:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:07:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:07:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.915s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:07:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.640[m] 91.679[deg] [grasp_sample.py: 539] +05/12 04:07:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:07:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:07:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:07:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:07:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:07:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:07:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/12 04:07:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.341s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:07:36 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.686[deg] [grasp_sample.py: 539] +05/12 04:07:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:07:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:07:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:38 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:07:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:07:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:07:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:07:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:07:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:07:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.12s (batch: 3.53s, save: 10.59s) [pipeline.py: 300] +05/12 04:07:52 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=3.48s: + episode_total: mean=17.55s, total=210.60s, count=12, min=205.5ms, max=166298.2ms + sensor_polling: mean=354.4ms, total=106.31s, count=300, min=299.8ms, max=586.0ms + save_trajectories: mean=10.59s, total=10.59s, count=1, min=10589.7ms, max=10589.7ms + physics_step: mean=23.3ms, total=7.00s, count=300, min=14.9ms, max=73.8ms + task_specific_sample: mean=397.8ms, total=4.77s, count=12, min=202.7ms, max=666.6ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3531.1ms, max=3531.1ms + task_sampling: mean=435.4ms, total=3.48s, count=8, min=303.0ms, max=669.1ms + task_sampling_failed: mean=331.3ms, total=1.33s, count=4, min=205.5ms, max=436.7ms + scene_randomize: mean=1.3ms, total=15.3ms, count=12, min=0.9ms, max=2.4ms + mj_forward_sync: mean=469.5us, total=5.6ms, count=12, min=0.4ms, max=0.9ms + policy_setup: mean=15.4us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:07:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120041m [env.py: 870] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=738.7ms, total=738.8ms [env.py: 1105] +05/12 04:07:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:07:54 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:07:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126842m [env.py: 870] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=427.6ms, total=427.6ms [env.py: 1105] +05/12 04:07:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:07:56 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:07:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:07:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:07:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:07:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:07:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:07:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148807m [env.py: 870] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=442.3ms, total=442.3ms [env.py: 1105] +05/12 04:07:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:07:58 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:07:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.176s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:07:59 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.524[m] 70.898[deg] [grasp_sample.py: 539] +05/12 04:07:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:07:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:07:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:07:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:07:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103699m [env.py: 870] +05/12 04:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=422.3ms, total=422.4ms [env.py: 1105] +05/12 04:08:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:08:00 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:08:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:08:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:00 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:08:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:08:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:08:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:08:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 383 non-colliding grasps [grasp_sample.py: 465] +05/12 04:08:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.340s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:08:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.048[m] 0.619[deg] [grasp_sample.py: 539] +05/12 04:08:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:08:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:08:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:08:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:08:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:08:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141036m [env.py: 870] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:08:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:08:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.0ms, total=184.0ms [env.py: 1105] +05/12 04:08:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:08:01 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:08:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:08:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:08:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:08:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:08:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:08:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167277m [env.py: 870] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:08:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31749958 -1.10126145 -0.16727742] yaw=-52.8deg [env.py: 1019] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60098364 -0.96446665 -0.16727742] yaw=-63.0deg [env.py: 1019] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29151985 -1.07042108 -0.16727742] yaw=-56.4deg [env.py: 1019] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:08:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=567.2ms, total=567.3ms [env.py: 1075] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.317, -1.101, -0.167) [env.py: 1079] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/12 04:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:08:03 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 04:08:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 04:08:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:08:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:08:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:08:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.493s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:08:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.674[m] 91.279[deg] [grasp_sample.py: 539] +05/12 04:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:08:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:08:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:08:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:08:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:08:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:08:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:08:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:08:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.929s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:08:13 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.524[m] 70.899[deg] [grasp_sample.py: 539] +05/12 04:08:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:08:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:08:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:20 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:08:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:08:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:08:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:08:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:08:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:08:27 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.524[m] 70.899[deg] [grasp_sample.py: 539] +05/12 04:08:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:08:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:08:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:08:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:08:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:08:39 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:08:39 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=1.22s: + episode_total: mean=23.40s, total=140.40s, count=6, min=215.4ms, max=68915.8ms + sensor_polling: mean=331.8ms, total=72.00s, count=217, min=297.1ms, max=644.6ms + physics_step: mean=20.0ms, total=4.35s, count=217, min=13.0ms, max=55.8ms + task_specific_sample: mean=311.0ms, total=1.87s, count=6, min=211.8ms, max=419.4ms + task_sampling: mean=405.8ms, total=1.22s, count=3, min=390.7ms, max=421.6ms + task_sampling_failed: mean=222.9ms, total=668.7ms, count=3, min=215.4ms, max=235.8ms + scene_randomize: mean=1.4ms, total=8.2ms, count=6, min=1.0ms, max=2.6ms + mj_forward_sync: mean=460.7us, total=2.8ms, count=6, min=0.4ms, max=0.7ms + policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:08:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:08:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:08:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:08:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:08:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:08:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174639m [env.py: 870] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:08:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40887325 -0.86012098 -0.17463917] yaw=-66.2deg [env.py: 1019] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1988551 -1.03950616 -0.17463917] yaw=-50.1deg [env.py: 1019] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23390107 -1.11745396 -0.17463917] yaw=-48.9deg [env.py: 1019] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:08:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=126.4ms, total=126.5ms [env.py: 1075] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.860, -0.175) [env.py: 1079] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 04:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:08:41 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 04:08:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:08:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:08:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:08:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 04:08:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:08:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:08:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:08:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.286s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:08:45 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.746[m] 80.437[deg] [grasp_sample.py: 539] +05/12 04:08:46 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:08:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:08:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:08:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:08:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:08:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:08:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140618m [env.py: 870] +05/12 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:08:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24829167 -1.11695475 -0.14061814] yaw=-49.7deg [env.py: 1019] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:08:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.2ms, total=220.2ms [env.py: 1075] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.248, -1.117, -0.141) [env.py: 1079] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 04:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 04:08:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:08:48 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 04:08:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:08:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:08:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:08:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:08:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.541s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:08:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.755[m] 89.471[deg] [grasp_sample.py: 539] +05/12 04:08:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:08:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:08:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:08:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:08:51 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:08:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:08:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:08:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.36s (batch: 3.37s, save: 9.99s) [pipeline.py: 300] +05/12 04:08:55 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.54s: + episode_total: mean=32.21s, total=161.05s, count=5, min=201.3ms, max=156410.6ms + sensor_polling: mean=354.0ms, total=106.20s, count=300, min=299.9ms, max=620.1ms + save_trajectories: mean=9.99s, total=9.99s, count=1, min=9990.2ms, max=9990.2ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=14.8ms, max=33.7ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.0ms, max=3374.0ms + task_specific_sample: mean=433.8ms, total=2.17s, count=5, min=197.9ms, max=1115.3ms + task_sampling: mean=768.2ms, total=1.54s, count=2, min=416.5ms, max=1119.8ms + task_sampling_failed: mean=217.6ms, total=652.8ms, count=3, min=201.3ms, max=228.1ms + scene_randomize: mean=1.7ms, total=8.4ms, count=5, min=1.1ms, max=3.1ms + mj_forward_sync: mean=642.4us, total=3.2ms, count=5, min=0.5ms, max=0.8ms + policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:08:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:08:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:08:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:08:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:08:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:08:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157785m [env.py: 870] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:08:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45985649 -0.88638409 -0.15778529] yaw=-50.1deg [env.py: 1019] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:08:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.1ms, total=192.1ms [env.py: 1075] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.886, -0.158) [env.py: 1079] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/12 04:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:08:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:08:56 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 04:08:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 04:08:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:08:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:08:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:08:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:09:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.967s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:09:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.739[m] 84.663[deg] [grasp_sample.py: 539] +05/12 04:09:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:09:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:09:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:09:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:09:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:09:10 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:09:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:09:10 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 04:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.77s (batch: 3.31s, save: 8.47s) [pipeline.py: 300] +05/12 04:09:22 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.23s: + episode_total: mean=48.74s, total=146.22s, count=3, min=585.4ms, max=142180.3ms + sensor_polling: mean=374.6ms, total=98.13s, count=262, min=315.9ms, max=610.9ms + save_trajectories: mean=8.47s, total=8.47s, count=1, min=8465.7ms, max=8465.7ms + physics_step: mean=22.7ms, total=5.96s, count=262, min=19.5ms, max=81.4ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3309.0ms, max=3309.0ms + task_specific_sample: mean=602.6ms, total=1.81s, count=3, min=457.7ms, max=769.9ms + task_sampling: mean=616.3ms, total=1.23s, count=2, min=460.1ms, max=772.5ms + task_sampling_failed: mean=585.4ms, total=585.4ms, count=1, min=585.4ms, max=585.4ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=512.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:09:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:09:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:09:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119960m [env.py: 870] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51153193 -0.9589473 -0.11996016] yaw=-52.7deg [env.py: 1019] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.5ms [env.py: 1075] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -0.959, -0.120) [env.py: 1079] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 04:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:09:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:09:24 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 04:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 04:09:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:09:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:09:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:09:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:09:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.692[m] 87.928[deg] [grasp_sample.py: 539] +05/12 04:09:27 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:09:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:09:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:09:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:09:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:09:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190814m [env.py: 870] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38666219 -1.09857988 -0.19081419] yaw=-47.0deg [env.py: 1019] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.2ms, total=228.2ms [env.py: 1075] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -1.099, -0.191) [env.py: 1079] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 04:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:09:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:09:28 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 04:09:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 04:09:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:09:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:09:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:09:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.729s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:09:32 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.670[m] 73.496[deg] [grasp_sample.py: 539] +05/12 04:09:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:09:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:09:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:09:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:09:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:09:49 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:09:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:09:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:09:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:10:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:10:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:10:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:10:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:10:11 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 04:10:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:10:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:10:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.92s (batch: 3.40s, save: 8.53s) [pipeline.py: 300] +05/12 04:10:23 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.81s: + episode_total: mean=23.79s, total=142.74s, count=6, min=191.8ms, max=140485.0ms + sensor_polling: mean=355.9ms, total=96.10s, count=270, min=307.2ms, max=538.2ms + save_trajectories: mean=8.53s, total=8.53s, count=1, min=8526.9ms, max=8526.9ms + physics_step: mean=23.5ms, total=6.33s, count=270, min=19.5ms, max=41.5ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3397.7ms, max=3397.7ms + task_specific_sample: mean=507.5ms, total=3.04s, count=6, min=188.9ms, max=803.2ms + task_sampling_failed: mean=451.7ms, total=2.26s, count=5, min=191.8ms, max=748.4ms + task_sampling: mean=805.3ms, total=805.3ms, count=1, min=805.3ms, max=805.3ms + scene_randomize: mean=1.2ms, total=7.4ms, count=6, min=1.0ms, max=1.8ms + mj_forward_sync: mean=447.3us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:10:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:10:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:10:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:10:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:10:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:10:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:10:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195226m [env.py: 870] +05/12 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:10:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51464189 -1.04092457 -0.19522618] yaw=-66.0deg [env.py: 1019] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:10:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:10:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.9ms, total=232.0ms [env.py: 1075] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -1.041, -0.195) [env.py: 1079] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/12 04:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 04:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:10:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:10:25 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 04:10:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 04:10:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:10:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:10:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:10:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.618s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:10:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.604[m] 91.911[deg] [grasp_sample.py: 539] +05/12 04:10:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:10:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:10:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:10:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:10:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:10:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:10:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:10:44 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:11:00 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:11:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:11:00 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 04:11:03 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:11:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:11:03 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 04:11:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:11:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:11:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.60s (batch: 3.69s, save: 8.91s) [pipeline.py: 300] +05/12 04:11:13 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.81s: + episode_total: mean=75.95s, total=151.89s, count=2, min=5885.4ms, max=146005.4ms + sensor_polling: mean=359.5ms, total=102.11s, count=284, min=300.3ms, max=614.6ms + save_trajectories: mean=8.91s, total=8.91s, count=1, min=8906.7ms, max=8906.7ms + physics_step: mean=23.1ms, total=6.56s, count=284, min=14.9ms, max=103.1ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3688.8ms, max=3688.8ms + task_sampling: mean=404.4ms, total=808.8ms, count=2, min=369.1ms, max=439.7ms + task_specific_sample: mean=401.7ms, total=803.5ms, count=2, min=366.3ms, max=437.1ms + scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms + mj_forward_sync: mean=469.3us, total=0.9ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:11:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:11:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:11:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:11:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:11:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:11:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152667m [env.py: 870] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:11:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57125513 -0.76177345 -0.15266697] yaw=-71.9deg [env.py: 1019] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59465549 -0.72736992 -0.15266697] yaw=-61.6deg [env.py: 1019] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:11:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=449.4ms, total=449.4ms [env.py: 1075] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.762, -0.153) [env.py: 1079] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 04:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:11:15 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 04:11:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:11:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:11:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.05s (batch: 3.27s, save: 8.78s) [pipeline.py: 300] +05/12 04:11:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 04:11:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:11:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:11:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:11:16 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s: + episode_total: mean=140.27s, total=140.27s, count=1, min=140267.7ms, max=140267.7ms + sensor_polling: mean=337.5ms, total=95.18s, count=282, min=303.9ms, max=579.9ms + save_trajectories: mean=8.78s, total=8.78s, count=1, min=8778.8ms, max=8778.8ms + physics_step: mean=21.5ms, total=6.07s, count=282, min=14.8ms, max=35.4ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3266.2ms, max=3266.2ms + task_sampling: mean=427.1ms, total=427.1ms, count=1, min=427.1ms, max=427.1ms + task_specific_sample: mean=423.5ms, total=423.5ms, count=1, min=423.5ms, max=423.5ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=434.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:11:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:11:17 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:11:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:11:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:11:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:11:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:11:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:11:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105907m [env.py: 870] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:11:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59047537 -0.8514694 -0.1059066 ] yaw=-60.9deg [env.py: 1019] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27604109 -1.20022323 -0.1059066 ] yaw=-29.4deg [env.py: 1019] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:11:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.5ms [env.py: 1075] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.851, -0.106) [env.py: 1079] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:11:18 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 04:11:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 04:11:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:11:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:11:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:11:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:11:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:11:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:11:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:11:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:11:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139628m [env.py: 870] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:11:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.474017 -0.81388722 -0.1396279 ] yaw=-59.5deg [env.py: 1019] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:11:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.1ms, total=210.2ms [env.py: 1075] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.814, -0.140) [env.py: 1079] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/12 04:11:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 04:11:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:11:19 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 04:11:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 04:11:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:11:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:11:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:11:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.747s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:11:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.737[m] 90.987[deg] [grasp_sample.py: 539] +05/12 04:11:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.551s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:11:21 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:11:21 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:11:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:11:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:11:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:11:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:11:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:11:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183574m [env.py: 870] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:11:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42593077 -1.11981454 -0.1835743 ] yaw=-52.7deg [env.py: 1019] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:11:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.8ms, total=179.8ms [env.py: 1075] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -1.120, -0.184) [env.py: 1079] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 04:11:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:11:22 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 04:11:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:11:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:11:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:11:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:11:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:11:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:11:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:11:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:11:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143256m [env.py: 870] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:11:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:11:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45575503 -1.04341653 -0.14325624] yaw=-59.3deg [env.py: 1019] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65383976 -0.91110986 -0.14325624] yaw=-60.2deg [env.py: 1019] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56479782 -0.74501593 -0.14325624] yaw=-57.4deg [env.py: 1019] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:11:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.4ms, total=174.5ms [env.py: 1075] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -1.043, -0.143) [env.py: 1079] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 04:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:11:23 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 04:11:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 04:11:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:11:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:11:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:11:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.712s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:11:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.576[m] 87.610[deg] [grasp_sample.py: 539] +05/12 04:11:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:11:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:11:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:24 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:11:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:11:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:11:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.652[m] 87.000[deg] [grasp_sample.py: 539] +05/12 04:11:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:11:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:11:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:11:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:11:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:11:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:11:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/12 04:11:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:11:39 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.053[m] 2.148[deg] [grasp_sample.py: 539] +05/12 04:11:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:11:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:11:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:44 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:11:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:11:44 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 04:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:11:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:11:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:11:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:11:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:11:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:11:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.450[m] 55.196[deg] [grasp_sample.py: 539] +05/12 04:11:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:11:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:11:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.91s (batch: 3.50s, save: 9.42s) [pipeline.py: 300] +05/12 04:11:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:11:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:11:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:11:58 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.90s: + episode_total: mean=76.77s, total=153.54s, count=2, min=3358.1ms, max=150184.2ms + sensor_polling: mean=376.8ms, total=101.37s, count=269, min=312.9ms, max=550.3ms + save_trajectories: mean=9.42s, total=9.42s, count=1, min=9415.6ms, max=9415.6ms + physics_step: mean=23.4ms, total=6.28s, count=269, min=15.0ms, max=58.8ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3496.9ms, max=3496.9ms + task_sampling: mean=448.7ms, total=897.3ms, count=2, min=432.8ms, max=464.5ms + task_specific_sample: mean=445.5ms, total=891.0ms, count=2, min=429.1ms, max=461.9ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.0ms, max=2.5ms + mj_forward_sync: mean=428.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:11:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:11:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:11:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:11:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:11:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:11:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:11:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186503m [env.py: 870] +05/12 04:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:11:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=553.5ms, total=553.6ms [env.py: 1105] +05/12 04:12:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:00 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156077m [env.py: 870] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25205711 -1.1835031 -0.15607713] yaw=-36.5deg [env.py: 1019] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:12:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=310.5ms, total=310.6ms [env.py: 1075] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.184, -0.156) [env.py: 1079] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.5 deg [env.py: 1082] +05/12 04:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:12:02 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 04:12:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 04:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.650s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:12:05 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.676[m] 82.281[deg] [grasp_sample.py: 539] +05/12 04:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:06 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:12:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:12:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140707m [env.py: 870] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51965753 -0.77022163 -0.14070728] yaw=-70.4deg [env.py: 1019] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:12:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.3ms [env.py: 1075] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.770, -0.141) [env.py: 1079] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg [env.py: 1082] +05/12 04:12:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:12:08 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 04:12:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 04:12:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:12:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:12:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.312s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:12:09 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:12:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:12:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.450[m] 55.196[deg] [grasp_sample.py: 539] +05/12 04:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115728m [env.py: 870] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35337696 -0.81255965 -0.11572842] yaw=-61.2deg [env.py: 1019] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:12:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47151026 -1.04652682 -0.11572842] yaw=-53.3deg [env.py: 1019] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1075] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -0.813, -0.116) [env.py: 1079] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 04:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:12:11 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 04:12:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:12:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:12:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:12:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.732s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:12:13 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192970m [env.py: 870] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.9ms, total=207.9ms [env.py: 1105] +05/12 04:12:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175787m [env.py: 870] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25178921 -1.01057439 -0.17578671] yaw=-41.8deg [env.py: 1019] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:12:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.5ms, total=220.5ms [env.py: 1075] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.011, -0.176) [env.py: 1079] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/12 04:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:12:16 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 04:12:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:12:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.820s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:12:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.729[m] 78.670[deg] [grasp_sample.py: 539] +05/12 04:12:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:12:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:12:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:12:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:12:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:12:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.450[m] 55.196[deg] [grasp_sample.py: 539] +05/12 04:12:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:12:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:12:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:12:26 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:12:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:12:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:12:37 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:12:37 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.86s: + episode_total: mean=39.00s, total=78.01s, count=2, min=3630.2ms, max=74375.9ms + sensor_polling: mean=366.5ms, total=30.42s, count=83, min=306.0ms, max=479.4ms + physics_step: mean=20.4ms, total=1.69s, count=83, min=13.1ms, max=31.0ms + task_sampling: mean=428.5ms, total=857.0ms, count=2, min=404.4ms, max=452.6ms + task_specific_sample: mean=425.4ms, total=850.9ms, count=2, min=401.9ms, max=449.0ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=0.9ms, max=2.4ms + mj_forward_sync: mean=418.6us, total=0.8ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:12:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131624m [env.py: 870] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1105] +05/12 04:12:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:39 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152489m [env.py: 870] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.0ms, total=206.0ms [env.py: 1105] +05/12 04:12:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:40 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109093m [env.py: 870] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.8ms, total=192.8ms [env.py: 1105] +05/12 04:12:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:41 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137632m [env.py: 870] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.1ms, total=200.1ms [env.py: 1105] +05/12 04:12:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:43 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190033m [env.py: 870] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36593599 -0.92877657 -0.19003294] yaw=-60.6deg [env.py: 1019] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62932801 -0.93850912 -0.19003294] yaw=-72.8deg [env.py: 1019] +05/12 04:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.9ms, total=230.0ms [env.py: 1075] +05/12 04:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.929, -0.190) [env.py: 1079] +05/12 04:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg [env.py: 1082] +05/12 04:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 04:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:12:45 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 04:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:12:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:12:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:12:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.986s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:12:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.760[m] 79.267[deg] [grasp_sample.py: 539] +05/12 04:12:50 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:12:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106890m [env.py: 870] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16328391 -1.11513619 -0.10689021] yaw=-29.6deg [env.py: 1019] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43825731 -0.92263565 -0.10689021] yaw=-50.1deg [env.py: 1019] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:12:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.163, -1.115, -0.107) [env.py: 1079] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.6 deg [env.py: 1082] +05/12 04:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:12:52 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 04:12:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 04:12:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:12:53 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:12:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174437m [env.py: 870] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.5ms, total=200.5ms [env.py: 1105] +05/12 04:12:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:55 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134351m [env.py: 870] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.6ms, total=190.6ms [env.py: 1105] +05/12 04:12:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:12:56 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:12:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:12:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:12:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:12:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:12:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:12:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118354m [env.py: 870] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:12:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21038723 -0.98781878 -0.11835433] yaw=-46.0deg [env.py: 1019] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30890151 -0.96686197 -0.11835433] yaw=-55.9deg [env.py: 1019] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:12:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.1ms, total=195.2ms [env.py: 1075] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -0.988, -0.118) [env.py: 1079] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg [env.py: 1082] +05/12 04:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:12:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:12:58 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 04:12:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 04:12:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:12:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:12:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:12:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.534s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:12:59 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:13:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:13:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:13:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.31s (batch: 3.14s, save: 10.17s) [pipeline.py: 300] +05/12 04:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164894m [env.py: 870] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:01 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.48s: + episode_total: mean=156.52s, total=156.52s, count=1, min=156523.1ms, max=156523.1ms + sensor_polling: mean=347.8ms, total=104.33s, count=300, min=303.5ms, max=609.5ms + save_trajectories: mean=10.17s, total=10.17s, count=1, min=10167.2ms, max=10167.2ms + physics_step: mean=23.0ms, total=6.90s, count=300, min=15.5ms, max=75.9ms + save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3139.9ms, max=3139.9ms + task_sampling: mean=482.3ms, total=482.3ms, count=1, min=482.3ms, max=482.3ms + task_specific_sample: mean=478.8ms, total=478.8ms, count=1, min=478.8ms, max=478.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=421.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=742.0ms, total=742.1ms [env.py: 1105] +05/12 04:13:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:13:01 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:13:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170624m [env.py: 870] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46890693 -0.85502307 -0.17062415] yaw=-59.6deg [env.py: 1019] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52994658 -0.81717433 -0.17062415] yaw=-71.5deg [env.py: 1019] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:13:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.4ms, total=198.5ms [env.py: 1075] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.855, -0.171) [env.py: 1079] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg [env.py: 1082] +05/12 04:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:13:03 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 04:13:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 04:13:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:13:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:13:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159634m [env.py: 870] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20763147 -0.9328269 -0.15963375] yaw=-51.4deg [env.py: 1019] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:13:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.4ms, total=215.5ms [env.py: 1075] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -0.933, -0.160) [env.py: 1079] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/12 04:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:13:03 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 04:13:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 04:13:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:13:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:13:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:13:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.546s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:13:05 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:13:06 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:13:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197572m [env.py: 870] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.6ms, total=195.7ms [env.py: 1105] +05/12 04:13:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:13:06 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175133m [env.py: 870] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.6ms, total=191.7ms [env.py: 1105] +05/12 04:13:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:13:08 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:13:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146363m [env.py: 870] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45429063 -0.80238782 -0.1463634 ] yaw=-69.5deg [env.py: 1019] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59319105 -0.73322833 -0.1463634 ] yaw=-66.6deg [env.py: 1019] +05/12 04:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:13:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1075] +05/12 04:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.454, -0.802, -0.146) [env.py: 1079] +05/12 04:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/12 04:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 04:13:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:13:10 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 04:13:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:13:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:13:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:13:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:13:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.994s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:13:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.767[m] 88.737[deg] [grasp_sample.py: 539] +05/12 04:13:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.961s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:13:12 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:13:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:13:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:13:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:13:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:13:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171315m [env.py: 870] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=295.5ms, total=295.6ms [env.py: 1105] +05/12 04:13:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:13:14 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:13:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115708m [env.py: 870] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35527629 -1.1710782 -0.11570794] yaw=-53.1deg [env.py: 1019] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:13:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.2ms, total=189.3ms [env.py: 1075] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.355, -1.171, -0.116) [env.py: 1079] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:13:15 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 04:13:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:13:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:13:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:13:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:13:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.812s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:13:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.671[m] 91.641[deg] [grasp_sample.py: 539] +05/12 04:13:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:13:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:13:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:13:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:13:24 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:13:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:13:24 INFO: [Worker 0] Preparing episode data: 252 timesteps [save_utils.py: 278] +05/12 04:13:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:13:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:13:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:13:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:13:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.43s (batch: 3.22s, save: 8.21s) [pipeline.py: 300] +05/12 04:13:36 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.71s: + episode_total: mean=46.23s, total=138.69s, count=3, min=2217.7ms, max=134100.9ms + sensor_polling: mean=360.4ms, total=90.46s, count=251, min=305.7ms, max=876.5ms + save_trajectories: mean=8.21s, total=8.21s, count=1, min=8212.5ms, max=8212.5ms + physics_step: mean=24.5ms, total=6.16s, count=251, min=16.6ms, max=159.6ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3215.2ms, max=3215.2ms + task_sampling: mean=570.7ms, total=1.71s, count=3, min=463.6ms, max=784.6ms + task_specific_sample: mean=567.6ms, total=1.70s, count=3, min=460.4ms, max=781.1ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=0.9ms, max=2.4ms + mj_forward_sync: mean=408.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:13:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116779m [env.py: 870] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44162947 -1.01940667 -0.11677943] yaw=-44.4deg [env.py: 1019] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50065708 -0.99281703 -0.11677943] yaw=-59.5deg [env.py: 1019] +05/12 04:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:13:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.6ms [env.py: 1075] +05/12 04:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.019, -0.117) [env.py: 1079] +05/12 04:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 04:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 04:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:13:38 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 04:13:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 04:13:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:13:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:13:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:13:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.550s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:13:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 81.970[deg] [grasp_sample.py: 539] +05/12 04:13:41 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:13:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132203m [env.py: 870] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=563.6ms, total=563.6ms [env.py: 1105] +05/12 04:13:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:13:43 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:13:44 INFO: [Worker 0] Object is not in grasp! 0.00141 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:13:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:13:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:13:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:13:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 377 non-colliding grasps [grasp_sample.py: 465] +05/12 04:13:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188775m [env.py: 870] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.7ms, total=212.8ms [env.py: 1105] +05/12 04:13:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:13:44 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:13:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:13:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:13:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:13:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:13:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:13:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184234m [env.py: 870] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:13:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37134552 -1.05095922 -0.18423358] yaw=-41.4deg [env.py: 1019] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:13:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.2ms [env.py: 1075] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -1.051, -0.184) [env.py: 1079] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/12 04:13:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:13:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:13:46 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 04:13:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 04:13:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:13:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:13:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:13:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.914s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:13:47 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.054[m] 17.853[deg] [grasp_sample.py: 539] +05/12 04:13:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:13:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:13:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:13:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.911s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:13:48 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.662[m] 85.663[deg] [grasp_sample.py: 539] +05/12 04:13:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:13:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:13:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:13:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:13:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:13:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:14:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:14:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:14:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:14:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:14:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:14:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:14:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:14:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:14:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:14:40 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:14:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:14:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:14:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:14:57 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:14:59 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:15:01 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:15:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:15:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:15:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:15:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:15:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.03s (batch: 3.46s, save: 10.57s) [pipeline.py: 300] +05/12 04:15:16 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.81s: + episode_total: mean=31.70s, total=190.21s, count=6, min=215.7ms, max=179771.9ms + sensor_polling: mean=420.5ms, total=126.16s, count=300, min=326.4ms, max=690.2ms + save_trajectories: mean=10.57s, total=10.57s, count=1, min=10573.9ms, max=10573.9ms + physics_step: mean=24.9ms, total=7.48s, count=300, min=15.0ms, max=58.3ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3461.0ms, max=3461.0ms + task_specific_sample: mean=429.7ms, total=2.58s, count=6, min=212.7ms, max=567.4ms + task_sampling: mean=453.6ms, total=1.81s, count=4, min=403.4ms, max=570.1ms + task_sampling_failed: mean=391.4ms, total=782.7ms, count=2, min=215.7ms, max=567.0ms + scene_randomize: mean=1.5ms, total=9.1ms, count=6, min=0.9ms, max=3.3ms + mj_forward_sync: mean=409.4us, total=2.5ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=18.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:15:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:15:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:15:16 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 04:15:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:15:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:15:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:15:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:15:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:15:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144640m [env.py: 870] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:15:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45335553 -1.07909148 -0.14464044] yaw=-53.0deg [env.py: 1019] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:15:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=240.0ms, total=240.1ms [env.py: 1075] +05/12 04:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -1.079, -0.145) [env.py: 1079] +05/12 04:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 04:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 04:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:15:18 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 04:15:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 04:15:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:15:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:15:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:15:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:15:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:15:19 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 04:15:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.591s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:15:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 87.453[deg] [grasp_sample.py: 539] +05/12 04:15:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:15:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:15:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:15:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:15:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:15:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:15:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.03s (batch: 3.46s, save: 8.58s) [pipeline.py: 300] +05/12 04:15:29 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=2.53s: + episode_total: mean=9.44s, total=150.99s, count=16, min=198.8ms, max=133865.1ms + sensor_polling: mean=331.6ms, total=89.53s, count=270, min=303.5ms, max=705.7ms + save_trajectories: mean=8.58s, total=8.58s, count=1, min=8576.6ms, max=8576.6ms + physics_step: mean=21.7ms, total=5.86s, count=270, min=14.7ms, max=31.2ms + task_specific_sample: mean=324.4ms, total=5.19s, count=16, min=195.6ms, max=746.7ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3455.9ms, max=3455.9ms + task_sampling_failed: mean=271.8ms, total=2.72s, count=10, min=198.8ms, max=761.6ms + task_sampling: mean=421.7ms, total=2.53s, count=6, min=391.1ms, max=474.1ms + scene_randomize: mean=1.1ms, total=17.1ms, count=16, min=0.9ms, max=1.6ms + mj_forward_sync: mean=416.7us, total=6.7ms, count=16, min=0.4ms, max=0.5ms + policy_setup: mean=18.6us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=16, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:15:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:15:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:15:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:15:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:15:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:15:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116507m [env.py: 870] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:15:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29265478 -0.98878596 -0.11650706] yaw=-56.5deg [env.py: 1019] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:15:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.1ms, total=236.2ms [env.py: 1075] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.989, -0.117) [env.py: 1079] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/12 04:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:15:31 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 04:15:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 04:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:15:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:15:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:15:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:15:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:15:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.62s (batch: 3.54s, save: 9.09s) [pipeline.py: 300] +05/12 04:15:32 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.42s: + episode_total: mean=150.12s, total=150.12s, count=1, min=150115.3ms, max=150115.3ms + sensor_polling: mean=342.1ms, total=97.85s, count=286, min=303.2ms, max=618.9ms + save_trajectories: mean=9.09s, total=9.09s, count=1, min=9086.7ms, max=9086.7ms + physics_step: mean=22.1ms, total=6.31s, count=286, min=19.6ms, max=47.3ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3536.6ms, max=3536.6ms + task_sampling: mean=419.4ms, total=419.4ms, count=1, min=419.4ms, max=419.4ms + task_specific_sample: mean=415.7ms, total=415.7ms, count=1, min=415.7ms, max=415.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=434.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:15:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:15:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199388m [env.py: 870] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23837254 -1.05201916 -0.19938839] yaw=-42.4deg [env.py: 1019] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=272.8ms, total=272.8ms [env.py: 1075] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -1.052, -0.199) [env.py: 1079] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 04:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:15:34 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 04:15:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 04:15:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:15:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:15:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:15:37 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:15:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.454s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:15:41 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.786[m] 90.099[deg] [grasp_sample.py: 539] +05/12 04:15:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.998s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:15:42 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.724[m] 90.004[deg] [grasp_sample.py: 539] +05/12 04:15:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:15:43 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:15:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:15:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:15:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:15:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:15:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:15:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:15:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:15:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:15:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160334m [env.py: 870] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:15:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13949756 -1.03131104 -0.16033372] yaw=-44.6deg [env.py: 1019] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44365181 -0.90270856 -0.16033372] yaw=-49.4deg [env.py: 1019] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36057495 -1.01810482 -0.16033372] yaw=-41.8deg [env.py: 1019] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:15:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.4ms [env.py: 1075] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.139, -1.031, -0.160) [env.py: 1079] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 04:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:15:45 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 04:15:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 04:15:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:15:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:15:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:15:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.493s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:15:46 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:15:46 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 04:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:15:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:15:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:15:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136808m [env.py: 870] +05/12 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17346968 -1.10783952 -0.13680795] yaw=-44.6deg [env.py: 1019] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26271229 -1.10798997 -0.13680795] yaw=-42.0deg [env.py: 1019] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.281838 -0.94981555 -0.13680795] yaw=-52.5deg [env.py: 1019] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:15:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=291.2ms, total=291.2ms [env.py: 1075] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.108, -0.137) [env.py: 1079] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 04:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/12 04:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:15:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:15:48 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 04:15:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 04:15:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:15:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:15:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:15:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.729s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:15:50 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.723[m] 82.217[deg] [grasp_sample.py: 539] +05/12 04:15:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:15:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:15:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:15:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:15:57 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:15:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:15:57 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 04:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:16:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:16:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:16:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.02s (batch: 3.33s, save: 8.69s) [pipeline.py: 300] +05/12 04:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:16:09 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.90s: + episode_total: mean=36.96s, total=147.82s, count=4, min=222.0ms, max=143628.4ms + sensor_polling: mean=347.6ms, total=93.86s, count=270, min=307.3ms, max=633.8ms + save_trajectories: mean=8.69s, total=8.69s, count=1, min=8686.6ms, max=8686.6ms + physics_step: mean=22.4ms, total=6.06s, count=270, min=19.7ms, max=36.7ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3331.7ms, max=3331.7ms + task_specific_sample: mean=419.7ms, total=1.68s, count=4, min=219.2ms, max=569.9ms + task_sampling: mean=447.7ms, total=895.3ms, count=2, min=419.2ms, max=476.1ms + task_sampling_failed: mean=401.5ms, total=803.0ms, count=2, min=222.0ms, max=581.0ms + scene_randomize: mean=1.4ms, total=5.4ms, count=4, min=0.9ms, max=2.4ms + mj_forward_sync: mean=420.1us, total=1.7ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:16:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:16:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:16:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:16:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:16:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:16:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196973m [env.py: 870] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:16:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=388.1ms, total=388.1ms [env.py: 1105] +05/12 04:16:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:16:11 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:16:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:16:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:16:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:16:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:16:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:16:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:16:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105773m [env.py: 870] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:16:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.3ms, total=216.4ms [env.py: 1105] +05/12 04:16:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:16:13 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:16:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:16:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:16:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:16:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:16:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:16:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142831m [env.py: 870] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:16:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.14906402 -1.0042927 -0.1428315 ] yaw=-42.8deg [env.py: 1019] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49358957 -0.9473804 -0.1428315 ] yaw=-61.8deg [env.py: 1019] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:16:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=323.4ms, total=323.5ms [env.py: 1075] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -1.004, -0.143) [env.py: 1079] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/12 04:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:16:14 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 04:16:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/12 04:16:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:16:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:16:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:16:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.890s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:16:17 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:16:17 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 04:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:16:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:16:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129819m [env.py: 870] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.9ms, total=205.0ms [env.py: 1105] +05/12 04:16:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:16:18 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:16:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:16:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:16:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:16:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:16:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:16:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:16:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140607m [env.py: 870] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:16:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0989527 -1.0699214 -0.14060667] yaw=-40.7deg [env.py: 1019] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:16:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.2ms, total=249.2ms [env.py: 1075] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -1.070, -0.141) [env.py: 1079] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:16:20 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 04:16:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:16:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:16:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:16:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:16:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.386s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:16:22 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:16:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:16:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:16:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154043m [env.py: 870] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55335065 -0.8311983 -0.15404278] yaw=-74.7deg [env.py: 1019] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.2ms, total=205.3ms [env.py: 1075] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.831, -0.154) [env.py: 1079] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.7 deg [env.py: 1082] +05/12 04:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:16:23 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 04:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:16:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:16:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:16:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:16:26 INFO: [Worker 0] Feasible grasp found 671 (originally 7): w/ 0.763[m] 83.064[deg] [grasp_sample.py: 539] +05/12 04:16:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:16:27 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:16:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:16:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:16:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:16:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:16:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:16:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102167m [env.py: 870] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:16:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55560636 -0.90601566 -0.10216665] yaw=-70.2deg [env.py: 1019] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:16:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.1ms, total=220.1ms [env.py: 1075] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.906, -0.102) [env.py: 1079] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg [env.py: 1082] +05/12 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:16:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:16:29 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 04:16:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:16:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:16:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:16:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:16:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:16:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.614s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:16:33 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.762[m] 95.457[deg] [grasp_sample.py: 539] +05/12 04:16:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:16:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:16:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:16:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:16:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:16:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:16:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:16:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:16:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:17:14 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:29 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:17:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:17:33 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 04:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:17:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:17:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:17:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:17:37 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:17:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:17:38 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.114[m] 13.920[deg] [grasp_sample.py: 539] +05/12 04:17:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:17:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:17:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:17:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:17:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.29s (batch: 3.18s, save: 9.12s) [pipeline.py: 300] +05/12 04:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:45 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s: + episode_total: mean=148.05s, total=148.05s, count=1, min=148050.0ms, max=148050.0ms + sensor_polling: mean=371.8ms, total=99.28s, count=267, min=322.1ms, max=625.3ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9116.2ms, max=9116.2ms + physics_step: mean=22.7ms, total=6.06s, count=267, min=14.7ms, max=112.3ms + save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3175.3ms, max=3175.3ms + task_sampling: mean=489.2ms, total=489.2ms, count=1, min=489.2ms, max=489.2ms + task_specific_sample: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms + scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: mean=924.0us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:17:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:17:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:17:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:17:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:17:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186583m [env.py: 870] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:17:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1478354 -1.00418755 -0.18658297] yaw=-40.2deg [env.py: 1019] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:17:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.8ms [env.py: 1075] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.148, -1.004, -0.187) [env.py: 1079] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/12 04:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:17:47 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 04:17:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 04:17:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:17:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:17:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:17:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.827s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:17:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:17:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:17:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:17:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:17:50 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:17:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:17:50 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 04:17:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:17:51 INFO: [Worker 0] Feasible grasp found 336 (originally 336): w/ 0.142[m] 25.278[deg] [grasp_sample.py: 539] +05/12 04:17:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:17:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:17:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:17:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:17:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:17:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:17:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129953m [env.py: 870] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:17:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22972061 -0.9176597 -0.12995349] yaw=-51.9deg [env.py: 1019] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:17:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=171.2ms, total=171.2ms [env.py: 1075] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -0.918, -0.130) [env.py: 1079] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 04:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:17:51 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 04:17:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 04:17:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:17:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:17:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:17:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:17:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:17:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.746s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:17:53 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:17:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:17:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:17:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:17:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:17:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:17:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195536m [env.py: 870] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:17:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=168.6ms, total=168.6ms [env.py: 1105] +05/12 04:17:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:17:55 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:17:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:17:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:17:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:17:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:17:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:17:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129121m [env.py: 870] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:17:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=225.5ms, total=225.6ms [env.py: 1105] +05/12 04:17:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:17:56 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:17:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:17:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:17:57 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 04:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:17:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:17:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:17:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:17:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:17:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:17:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109330m [env.py: 870] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:17:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.1ms, total=201.2ms [env.py: 1105] +05/12 04:17:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:17:58 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:17:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:17:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:17:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:17:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104756m [env.py: 870] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:17:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.1ms, total=196.2ms [env.py: 1105] +05/12 04:17:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:17:59 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137455m [env.py: 870] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50370298 -0.74466579 -0.13745481] yaw=-74.9deg [env.py: 1019] +05/12 04:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.9ms, total=201.9ms [env.py: 1075] +05/12 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -0.745, -0.137) [env.py: 1079] +05/12 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.9 deg [env.py: 1082] +05/12 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:01 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:18:02 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:18:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196977m [env.py: 870] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:18:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.13s (batch: 3.55s, save: 9.58s) [pipeline.py: 300] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.3ms, total=187.4ms [env.py: 1105] +05/12 04:18:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:04 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:04 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.51s: + episode_total: mean=150.43s, total=150.43s, count=1, min=150426.0ms, max=150426.0ms + sensor_polling: mean=348.9ms, total=97.70s, count=280, min=298.7ms, max=545.7ms + save_trajectories: mean=9.58s, total=9.58s, count=1, min=9581.6ms, max=9581.6ms + physics_step: mean=22.5ms, total=6.31s, count=280, min=14.8ms, max=31.5ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3552.4ms, max=3552.4ms + task_sampling: mean=514.6ms, total=514.6ms, count=1, min=514.6ms, max=514.6ms + task_specific_sample: mean=510.9ms, total=510.9ms, count=1, min=510.9ms, max=510.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=439.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:18:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166078m [env.py: 870] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51666387 -1.02099996 -0.16607824] yaw=-60.1deg [env.py: 1019] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.3ms [env.py: 1075] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -1.021, -0.166) [env.py: 1079] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:05 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159631m [env.py: 870] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58914516 -0.82308394 -0.15963072] yaw=-75.9deg [env.py: 1019] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms [env.py: 1075] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.823, -0.160) [env.py: 1079] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.9 deg [env.py: 1082] +05/12 04:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 04:18:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:06 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:18:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.496s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.615[m] 85.808[deg] [grasp_sample.py: 539] +05/12 04:18:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:18:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:18:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:18:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:18:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:18:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.90s (batch: 3.32s, save: 9.58s) [pipeline.py: 300] +05/12 04:18:10 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=1.40s: + episode_total: mean=52.37s, total=157.10s, count=3, min=2020.5ms, max=142558.5ms + sensor_polling: mean=350.4ms, total=97.75s, count=279, min=298.7ms, max=586.7ms + save_trajectories: mean=9.58s, total=9.58s, count=1, min=9576.5ms, max=9576.5ms + physics_step: mean=23.2ms, total=6.48s, count=279, min=14.7ms, max=46.5ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3324.8ms, max=3324.8ms + task_sampling: mean=466.4ms, total=1.40s, count=3, min=363.0ms, max=586.4ms + task_specific_sample: mean=463.6ms, total=1.39s, count=3, min=360.2ms, max=584.2ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=0.9ms, max=2.3ms + mj_forward_sync: mean=396.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:18:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164540m [env.py: 870] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=170.5ms, total=170.6ms [env.py: 1105] +05/12 04:18:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:12 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130906m [env.py: 870] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.0ms, total=197.1ms [env.py: 1105] +05/12 04:18:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:13 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124448m [env.py: 870] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=206.7ms, total=206.8ms [env.py: 1105] +05/12 04:18:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:15 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147814m [env.py: 870] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40534926 -0.86328859 -0.14781401] yaw=-62.9deg [env.py: 1019] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.405, -0.863, -0.148) [env.py: 1079] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 04:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:16 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:18:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.883s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:20 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.761[m] 85.887[deg] [grasp_sample.py: 539] +05/12 04:18:21 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.228s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:22 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.762[m] 106.634[deg] [grasp_sample.py: 539] +05/12 04:18:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155043m [env.py: 870] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.0ms, total=201.0ms [env.py: 1105] +05/12 04:18:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:23 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149141m [env.py: 870] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10891013 -1.0768838 -0.14914139] yaw=-31.0deg [env.py: 1019] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:24 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1075] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.109, -1.077, -0.149) [env.py: 1079] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.0 deg [env.py: 1082] +05/12 04:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:24 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148269m [env.py: 870] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.61965686 -0.85843898 -0.14826872] yaw=-67.0deg [env.py: 1019] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56161716 -0.76894908 -0.14826872] yaw=-61.5deg [env.py: 1019] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48267325 -0.97748397 -0.14826872] yaw=-59.2deg [env.py: 1019] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=315.6ms, total=315.6ms [env.py: 1075] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.620, -0.858, -0.148) [env.py: 1079] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg [env.py: 1082] +05/12 04:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:26 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.804s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:18:26 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157097m [env.py: 870] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=559.5ms, total=559.5ms [env.py: 1105] +05/12 04:18:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:28 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.110s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.718[m] 94.696[deg] [grasp_sample.py: 539] +05/12 04:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:29 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170691m [env.py: 870] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21572182 -1.14407679 -0.17069082] yaw=-43.3deg [env.py: 1019] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=408.8ms, total=408.8ms [env.py: 1075] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.144, -0.171) [env.py: 1079] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/12 04:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:30 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184695m [env.py: 870] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38479742 -0.86012978 -0.18469535] yaw=-64.1deg [env.py: 1019] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36712352 -0.92846739 -0.18469535] yaw=-48.4deg [env.py: 1019] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.9ms, total=217.0ms [env.py: 1075] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.860, -0.185) [env.py: 1079] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 04:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m [env.py: 1086] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:31 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.910s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.720[m] 85.717[deg] [grasp_sample.py: 539] +05/12 04:18:33 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117916m [env.py: 870] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5043239 -0.96914254 -0.1179163 ] yaw=-51.4deg [env.py: 1019] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.2ms [env.py: 1075] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -0.969, -0.118) [env.py: 1079] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/12 04:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:35 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:37 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.744[m] 90.362[deg] [grasp_sample.py: 539] +05/12 04:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:18:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:18:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:18:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:38 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.443[m] 56.751[deg] [grasp_sample.py: 539] +05/12 04:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102480m [env.py: 870] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49225554 -1.02753631 -0.10248018] yaw=-51.3deg [env.py: 1019] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56583235 -0.71596946 -0.10248018] yaw=-62.6deg [env.py: 1019] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59012991 -0.74923942 -0.10248018] yaw=-77.1deg [env.py: 1019] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.1ms, total=161.2ms [env.py: 1075] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -1.028, -0.102) [env.py: 1079] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 04:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:39 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:40 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149001m [env.py: 870] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48562112 -1.03481528 -0.14900091] yaw=-62.4deg [env.py: 1019] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=213.9ms, total=214.0ms [env.py: 1075] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -1.035, -0.149) [env.py: 1079] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/12 04:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:41 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:43 INFO: [Worker 0] Feasible grasp found 555 (originally 555): w/ 0.727[m] 97.986[deg] [grasp_sample.py: 539] +05/12 04:18:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.040s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:44 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.689[m] 93.301[deg] [grasp_sample.py: 539] +05/12 04:18:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:18:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:18:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:18:44 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:44 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 04:18:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.779s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:44 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.673[m] 94.974[deg] [grasp_sample.py: 539] +05/12 04:18:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:18:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:18:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:18:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:18:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191515m [env.py: 870] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.2ms, total=202.2ms [env.py: 1105] +05/12 04:18:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:46 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:47 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:18:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138771m [env.py: 870] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44956175 -0.91249035 -0.13877144] yaw=-54.2deg [env.py: 1019] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.6ms [env.py: 1075] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -0.912, -0.139) [env.py: 1079] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 04:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:48 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:18:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:18:50 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.743[m] 79.376[deg] [grasp_sample.py: 539] +05/12 04:18:51 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:18:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122087m [env.py: 870] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.9ms, total=195.9ms [env.py: 1105] +05/12 04:18:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:18:53 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:18:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:18:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:18:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:18:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:18:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:18:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167978m [env.py: 870] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:18:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31682361 -0.99898118 -0.1679784 ] yaw=-37.8deg [env.py: 1019] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:18:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.2ms, total=280.2ms [env.py: 1075] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.317, -0.999, -0.168) [env.py: 1079] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 04:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:18:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:18:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:18:54 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 04:18:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:18:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:18:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:18:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:19:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:19:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:19:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:19:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:19:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:19:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:19:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:19:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.502[m] 60.944[deg] [grasp_sample.py: 539] +05/12 04:19:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:19:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:19:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:19:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 25.432s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:19:20 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.749[m] 98.317[deg] [grasp_sample.py: 539] +05/12 04:19:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:19:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:19:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:19:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:19:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:19:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:19:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.12s (batch: 3.31s, save: 9.81s) [pipeline.py: 300] +05/12 04:19:22 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=1.87s: + episode_total: mean=26.12s, total=182.86s, count=7, min=213.9ms, max=172864.3ms + sensor_polling: mean=334.4ms, total=100.32s, count=300, min=301.9ms, max=558.6ms + save_trajectories: mean=9.81s, total=9.81s, count=1, min=9808.2ms, max=9808.2ms + physics_step: mean=21.9ms, total=6.58s, count=300, min=14.8ms, max=74.1ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3314.7ms, max=3314.7ms + task_specific_sample: mean=383.3ms, total=2.68s, count=7, min=210.2ms, max=562.3ms + task_sampling: mean=466.7ms, total=1.87s, count=4, min=415.0ms, max=564.3ms + task_sampling_failed: mean=279.3ms, total=838.0ms, count=3, min=213.9ms, max=399.4ms + scene_randomize: mean=1.3ms, total=8.9ms, count=7, min=0.9ms, max=2.7ms + mj_forward_sync: mean=462.8us, total=3.2ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=13.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:19:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:19:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:19:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:19:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:19:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:19:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:19:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198190m [env.py: 870] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:19:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45164916 -0.9078552 -0.19819007] yaw=-62.1deg [env.py: 1019] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65173582 -0.89276424 -0.19819007] yaw=-75.8deg [env.py: 1019] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30310289 -1.22961361 -0.19819007] yaw=-30.5deg [env.py: 1019] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:19:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.5ms, total=113.5ms [env.py: 1075] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.452, -0.908, -0.198) [env.py: 1079] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.1 deg [env.py: 1082] +05/12 04:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:19:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:19:23 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 04:19:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 04:19:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:19:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:19:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:19:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.639s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:19:27 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.711[m] 97.425[deg] [grasp_sample.py: 539] +05/12 04:19:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:19:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:19:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:19:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:19:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:19:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:20:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:20:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:20:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:20:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 448 non-colliding grasps [grasp_sample.py: 465] +05/12 04:20:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.821s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:20:11 INFO: [Worker 0] Feasible grasp found 289 (originally 289): w/ 0.063[m] 1.677[deg] [grasp_sample.py: 539] +05/12 04:20:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:20:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:20:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:20:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:20:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.145s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:20:32 INFO: [Worker 0] Feasible grasp found 547 (originally 547): w/ 0.177[m] 25.118[deg] [grasp_sample.py: 539] +05/12 04:20:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:20:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:20:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:20:40 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:20:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:20:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:20:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.767s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:20:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.135[m] 13.505[deg] [grasp_sample.py: 539] +05/12 04:20:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:20:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:20:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:20:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:20:51 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:20:51 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=2.27s: + episode_total: mean=14.87s, total=148.70s, count=10, min=180.4ms, max=132376.6ms + sensor_polling: mean=324.3ms, total=61.61s, count=190, min=294.1ms, max=465.5ms + physics_step: mean=20.9ms, total=3.97s, count=190, min=15.0ms, max=43.7ms + task_specific_sample: mean=361.6ms, total=3.62s, count=10, min=176.2ms, max=619.3ms + task_sampling: mean=453.5ms, total=2.27s, count=5, min=372.2ms, max=621.5ms + task_sampling_failed: mean=276.5ms, total=1.38s, count=5, min=180.3ms, max=574.0ms + scene_randomize: mean=1.1ms, total=11.3ms, count=10, min=0.9ms, max=2.5ms + mj_forward_sync: mean=426.9us, total=4.3ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=12.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:20:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:20:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:20:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:20:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139446m [env.py: 870] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51549765 -0.96302127 -0.13944594] yaw=-64.5deg [env.py: 1019] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59304812 -0.95325126 -0.13944594] yaw=-64.4deg [env.py: 1019] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:20:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.4ms [env.py: 1075] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -0.963, -0.139) [env.py: 1079] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg [env.py: 1082] +05/12 04:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:20:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:20:53 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 04:20:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 04:20:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:20:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:20:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:20:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:20:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:20:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:20:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:20:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.871s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:20:57 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.163[m] 8.602[deg] [grasp_sample.py: 539] +05/12 04:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:20:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:20:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:20:59 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:20:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:20:59 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 04:21:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.197s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:21:00 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.737[m] 86.374[deg] [grasp_sample.py: 539] +05/12 04:21:01 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:21:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:21:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:21:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:21:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:21:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:21:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108408m [env.py: 870] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:21:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1936518 -0.94811526 -0.10840801] yaw=-57.0deg [env.py: 1019] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:21:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.6ms, total=206.7ms [env.py: 1075] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -0.948, -0.108) [env.py: 1079] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 04:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:21:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:21:02 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 04:21:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:21:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:21:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:21:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:21:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:21:04 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:21:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:21:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:21:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:21:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:21:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:21:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:21:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122565m [env.py: 870] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:21:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30552377 -1.20475751 -0.12256468] yaw=-34.5deg [env.py: 1019] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:21:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms [env.py: 1075] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -1.205, -0.123) [env.py: 1079] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg [env.py: 1082] +05/12 04:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:21:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:21:06 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 04:21:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:21:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:21:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:21:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:21:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:21:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 90.988[deg] [grasp_sample.py: 539] +05/12 04:21:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:21:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:21:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:21:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:21:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:21:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.17s (batch: 3.59s, save: 10.58s) [pipeline.py: 300] +05/12 04:21:14 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=2.08s: + episode_total: mean=19.55s, total=195.52s, count=10, min=176.8ms, max=153063.6ms + sensor_polling: mean=370.7ms, total=117.50s, count=317, min=311.1ms, max=629.4ms + save_trajectories: mean=10.58s, total=10.58s, count=1, min=10576.8ms, max=10576.8ms + physics_step: mean=22.2ms, total=7.03s, count=317, min=17.3ms, max=127.7ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3588.7ms, max=3588.7ms + task_specific_sample: mean=307.7ms, total=3.08s, count=10, min=173.6ms, max=482.1ms + task_sampling: mean=416.9ms, total=2.08s, count=5, min=346.3ms, max=485.9ms + task_sampling_failed: mean=204.3ms, total=1.02s, count=5, min=176.8ms, max=236.4ms + scene_randomize: mean=1.2ms, total=12.1ms, count=10, min=0.9ms, max=2.4ms + mj_forward_sync: mean=422.5us, total=4.2ms, count=10, min=0.4ms, max=0.5ms + policy_setup: mean=14.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:21:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:21:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:21:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:21:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:21:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:21:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163737m [env.py: 870] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24175736 -1.10802598 -0.16373731] yaw=-50.0deg [env.py: 1019] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.1ms, total=232.2ms [env.py: 1075] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.108, -0.164) [env.py: 1079] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg [env.py: 1082] +05/12 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:21:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:21:16 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 04:21:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 04:21:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:21:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:21:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:21:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.767s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:21:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.720[m] 83.627[deg] [grasp_sample.py: 539] +05/12 04:21:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:21:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:21:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:21:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:21:25 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:21:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:21:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:21:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:21:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:21:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 04:21:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.383s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:21:36 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.132[m] 4.933[deg] [grasp_sample.py: 539] +05/12 04:21:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:21:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:21:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:46 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:21:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:21:46 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 04:21:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:21:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:21:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:21:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:21:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.05s (batch: 3.45s, save: 9.60s) [pipeline.py: 300] +05/12 04:21:59 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:21:59 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:21:59 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:21:59 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=0.37s: + episode_total: mean=156.33s, total=156.33s, count=1, min=156332.0ms, max=156332.0ms + sensor_polling: mean=375.5ms, total=107.77s, count=287, min=306.1ms, max=630.2ms + physics_step: mean=24.1ms, total=6.93s, count=287, min=19.6ms, max=33.6ms + task_sampling: mean=372.9ms, total=372.9ms, count=1, min=372.9ms, max=372.9ms + task_specific_sample: mean=369.0ms, total=369.0ms, count=1, min=369.0ms, max=369.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=424.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:21:59 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=2.41s: + episode_total: mean=32.29s, total=226.05s, count=7, min=203.8ms, max=185359.1ms + sensor_polling: mean=394.4ms, total=115.16s, count=292, min=309.0ms, max=582.1ms + save_trajectories: mean=9.60s, total=9.60s, count=1, min=9602.4ms, max=9602.4ms + physics_step: mean=25.5ms, total=7.46s, count=292, min=15.4ms, max=42.1ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3447.9ms, max=3447.9ms + task_specific_sample: mean=400.6ms, total=2.80s, count=7, min=200.7ms, max=536.1ms + task_sampling: mean=482.3ms, total=2.41s, count=5, min=409.7ms, max=540.4ms + task_sampling_failed: mean=206.9ms, total=413.8ms, count=2, min=203.8ms, max=210.1ms + scene_randomize: mean=1.4ms, total=10.0ms, count=7, min=1.0ms, max=2.8ms + mj_forward_sync: mean=459.1us, total=3.2ms, count=7, min=0.4ms, max=0.7ms + policy_setup: mean=12.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:22:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137453m [env.py: 870] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174412m [env.py: 870] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11108816 -1.08678969 -0.13745339] yaw=-48.9deg [env.py: 1019] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.4ms, total=180.5ms [env.py: 1075] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.111, -1.087, -0.137) [env.py: 1079] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5411067 -0.78530946 -0.17441155] yaw=-57.6deg [env.py: 1019] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.3ms, total=202.3ms [env.py: 1075] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.785, -0.174) [env.py: 1079] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 04:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:01 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:01 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.402s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:22:03 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:22:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108376m [env.py: 870] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=204.3ms, total=204.4ms [env.py: 1105] +05/12 04:22:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:22:04 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:22:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:22:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109705m [env.py: 870] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=194.6ms, total=194.7ms [env.py: 1105] +05/12 04:22:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:22:06 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:22:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192303m [env.py: 870] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60716366 -0.94855384 -0.19230324] yaw=-67.2deg [env.py: 1019] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4014848 -1.08510517 -0.19230324] yaw=-41.6deg [env.py: 1019] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51970051 -0.96612564 -0.19230324] yaw=-65.4deg [env.py: 1019] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.2ms, total=113.2ms [env.py: 1075] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.949, -0.192) [env.py: 1079] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/12 04:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:07 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.056s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:22:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.659[m] 86.234[deg] [grasp_sample.py: 539] +05/12 04:22:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:22:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:22:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.048s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:22:15 INFO: [Worker 0] Feasible grasp found 179 (originally 179): w/ 0.761[m] 93.329[deg] [grasp_sample.py: 539] +05/12 04:22:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:22:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:22:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:22:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:22:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:22:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:22:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.034s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:22:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.485[m] 59.948[deg] [grasp_sample.py: 539] +05/12 04:22:37 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:22:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103709m [env.py: 870] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=351.8ms, total=351.9ms [env.py: 1105] +05/12 04:22:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:22:38 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174406m [env.py: 870] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=257.9ms, total=257.9ms [env.py: 1105] +05/12 04:22:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:22:40 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:22:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149424m [env.py: 870] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54783408 -0.76153443 -0.14942373] yaw=-69.1deg [env.py: 1019] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36270577 -0.98598397 -0.14942373] yaw=-56.4deg [env.py: 1019] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:22:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.4ms [env.py: 1075] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -0.762, -0.149) [env.py: 1079] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 04:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.193s, found 339 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:41 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:22:43 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:22:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.804s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:22:43 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.053[m] 8.042[deg] [grasp_sample.py: 539] +05/12 04:22:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:22:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:22:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101983m [env.py: 870] +05/12 04:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58564272 -0.71400435 -0.10198253] yaw=-64.4deg [env.py: 1019] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=377.8ms, total=377.8ms [env.py: 1075] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.714, -0.102) [env.py: 1079] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/12 04:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 04:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:45 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:22:47 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:22:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196184m [env.py: 870] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16764867 -1.02994236 -0.19618417] yaw=-48.2deg [env.py: 1019] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45833784 -1.04877668 -0.19618417] yaw=-44.1deg [env.py: 1019] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=285.5ms, total=285.5ms [env.py: 1075] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.030, -0.196) [env.py: 1079] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/12 04:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:48 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.334s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:22:50 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:22:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157638m [env.py: 870] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22153872 -1.02850978 -0.1576379 ] yaw=-50.4deg [env.py: 1019] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=480.3ms, total=480.3ms [env.py: 1075] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.029, -0.158) [env.py: 1079] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 04:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 04:22:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:52 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:22:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:22:54 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:22:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:22:55 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.761[m] 88.712[deg] [grasp_sample.py: 539] +05/12 04:22:56 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:22:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:22:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:22:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:22:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:22:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:22:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:22:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132558m [env.py: 870] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:22:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51705059 -0.90392981 -0.13255829] yaw=-68.0deg [env.py: 1019] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:22:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=337.4ms, total=337.5ms [env.py: 1075] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -0.904, -0.133) [env.py: 1079] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 04:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:22:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:22:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:22:58 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 04:22:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:22:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:22:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:22:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.848s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:23:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.706[m] 89.026[deg] [grasp_sample.py: 539] +05/12 04:23:01 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:23:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114111m [env.py: 870] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26682704 -0.96055728 -0.1141106 ] yaw=-49.3deg [env.py: 1019] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47651524 -0.81036468 -0.1141106 ] yaw=-66.5deg [env.py: 1019] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28984047 -1.13859394 -0.1141106 ] yaw=-44.6deg [env.py: 1019] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.0ms, total=105.1ms [env.py: 1075] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -0.961, -0.114) [env.py: 1079] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/12 04:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:03 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:04 INFO: [Worker 0] Object is not in grasp! 0.00148 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:23:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:23:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:23:04 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:23:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.967s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:23:06 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.064[m] 10.793[deg] [grasp_sample.py: 539] +05/12 04:23:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190540m [env.py: 870] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14060796 -1.00443275 -0.19053976] yaw=-31.7deg [env.py: 1019] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.8ms, total=241.8ms [env.py: 1075] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -1.004, -0.191) [env.py: 1079] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg [env.py: 1082] +05/12 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:06 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:23:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:23:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.346s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:23:08 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:23:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107005m [env.py: 870] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68244982 -0.95717885 -0.10700464] yaw=-68.5deg [env.py: 1019] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16731941 -1.11236965 -0.10700464] yaw=-41.6deg [env.py: 1019] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28751308 -0.99732871 -0.10700464] yaw=-57.8deg [env.py: 1019] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.3ms, total=236.4ms [env.py: 1075] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.682, -0.957, -0.107) [env.py: 1079] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 04:23:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:23:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:10 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:23:14 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:23:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:23:14 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 04:23:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.172s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:23:18 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.674[m] 82.673[deg] [grasp_sample.py: 539] +05/12 04:23:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:23:19 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:23:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194664m [env.py: 870] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32872817 -1.17431324 -0.19466401] yaw=-50.8deg [env.py: 1019] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.6ms, total=211.6ms [env.py: 1075] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.174, -0.195) [env.py: 1079] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 04:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:21 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:23:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:23:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:23:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.627[m] 94.049[deg] [grasp_sample.py: 539] +05/12 04:23:23 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:23:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166618m [env.py: 870] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56411124 -0.78624088 -0.1666183 ] yaw=-68.5deg [env.py: 1019] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.0ms, total=208.1ms [env.py: 1075] +05/12 04:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.786, -0.167) [env.py: 1079] +05/12 04:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 04:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 04:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:25 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:23:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:23:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:23:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.23s (batch: 3.13s, save: 9.10s) [pipeline.py: 300] +05/12 04:23:27 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=1.27s: + episode_total: mean=50.58s, total=151.74s, count=3, min=2083.5ms, max=141763.5ms + sensor_polling: mean=356.9ms, total=97.80s, count=274, min=296.8ms, max=777.7ms + save_trajectories: mean=9.10s, total=9.10s, count=1, min=9101.0ms, max=9101.0ms + physics_step: mean=24.1ms, total=6.60s, count=274, min=14.7ms, max=63.2ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3127.0ms, max=3127.0ms + task_sampling: mean=421.9ms, total=1.27s, count=3, min=396.4ms, max=443.1ms + task_specific_sample: mean=419.2ms, total=1.26s, count=3, min=394.1ms, max=440.8ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=1.0ms, max=1.1ms + mj_forward_sync: mean=428.1us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:23:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149892m [env.py: 870] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59471402 -0.8698964 -0.14989183] yaw=-70.1deg [env.py: 1019] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34617408 -0.88116533 -0.14989183] yaw=-66.0deg [env.py: 1019] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.2ms [env.py: 1075] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.870, -0.150) [env.py: 1079] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg [env.py: 1082] +05/12 04:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:29 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:23:29 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/12 04:23:29 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=False episode_total=0.55s: + episode_total: mean=133.37s, total=133.37s, count=1, min=133371.9ms, max=133371.9ms + sensor_polling: mean=373.6ms, total=112.07s, count=300, min=311.3ms, max=613.9ms + physics_step: mean=23.0ms, total=6.91s, count=300, min=14.8ms, max=63.9ms + task_sampling: mean=549.9ms, total=549.9ms, count=1, min=549.9ms, max=549.9ms + task_specific_sample: mean=545.7ms, total=545.7ms, count=1, min=545.7ms, max=545.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=446.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:23:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:29 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137583m [env.py: 870] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.1ms, total=206.1ms [env.py: 1105] +05/12 04:23:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:23:30 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:23:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148469m [env.py: 870] +05/12 04:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.1ms, total=199.2ms [env.py: 1105] +05/12 04:23:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:23:32 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:23:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.370s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:23:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.699[m] 95.350[deg] [grasp_sample.py: 539] +05/12 04:23:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:23:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:23:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:23:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136667m [env.py: 870] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56675759 -0.75319936 -0.13666729] yaw=-60.1deg [env.py: 1019] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29984921 -0.91210497 -0.13666729] yaw=-45.8deg [env.py: 1019] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=205.9ms, total=206.0ms [env.py: 1075] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.567, -0.753, -0.137) [env.py: 1079] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 04:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:34 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.577s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:23:35 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:23:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133980m [env.py: 870] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35600186 -0.9776186 -0.13398002] yaw=-43.0deg [env.py: 1019] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.3ms, total=219.3ms [env.py: 1075] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -0.978, -0.134) [env.py: 1079] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 04:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:37 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:23:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.800s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:23:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.719[m] 81.172[deg] [grasp_sample.py: 539] +05/12 04:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:23:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:23:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:23:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:23:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 28.039s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:23:53 INFO: [Worker 0] Feasible grasp found 179 (originally 179): w/ 0.795[m] 91.553[deg] [grasp_sample.py: 539] +05/12 04:23:54 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:23:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116332m [env.py: 870] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.1ms, total=215.1ms [env.py: 1105] +05/12 04:23:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:23:55 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:23:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109268m [env.py: 870] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.6ms, total=199.6ms [env.py: 1105] +05/12 04:23:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:23:57 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:23:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:23:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:23:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:23:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:23:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:23:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136077m [env.py: 870] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:23:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36145048 -0.92848227 -0.13607698] yaw=-54.9deg [env.py: 1019] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24859215 -0.89925098 -0.13607698] yaw=-53.6deg [env.py: 1019] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:23:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.2ms, total=214.2ms [env.py: 1075] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.928, -0.136) [env.py: 1079] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/12 04:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:23:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:23:59 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 04:23:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 04:23:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:23:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:23:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:24:11 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:24:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.330s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:24:12 INFO: [Worker 0] Feasible grasp found 432 (originally 432): w/ 0.774[m] 90.534[deg] [grasp_sample.py: 539] +05/12 04:24:13 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:24:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:24:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:24:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:24:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:24:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:24:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:24:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196710m [env.py: 870] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:24:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33276089 -0.92776995 -0.19671038] yaw=-42.6deg [env.py: 1019] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:24:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=340.0ms, total=340.0ms [env.py: 1075] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.928, -0.197) [env.py: 1079] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.6 deg [env.py: 1082] +05/12 04:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:24:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:24:15 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 04:24:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 04:24:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:24:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:24:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:24:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:24:18 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.751[m] 76.542[deg] [grasp_sample.py: 539] +05/12 04:24:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:24:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:24:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:24:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:24:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:24:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:24:34 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 04:24:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:24:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:24:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:24:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:24:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:24:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.91s (batch: 3.55s, save: 9.36s) [pipeline.py: 300] +05/12 04:24:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:24:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:24:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:24:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:24:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:24:47 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.44s: + episode_total: mean=166.66s, total=166.66s, count=1, min=166658.4ms, max=166658.4ms + sensor_polling: mean=368.4ms, total=105.72s, count=287, min=304.7ms, max=720.6ms + save_trajectories: mean=9.36s, total=9.36s, count=1, min=9363.5ms, max=9363.5ms + physics_step: mean=23.7ms, total=6.81s, count=287, min=14.8ms, max=88.6ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3549.3ms, max=3549.3ms + task_sampling: mean=442.5ms, total=442.5ms, count=1, min=442.5ms, max=442.5ms + task_specific_sample: mean=438.2ms, total=438.2ms, count=1, min=438.2ms, max=438.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=617.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=13.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:24:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:24:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:24:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:24:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141497m [env.py: 870] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.679s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:24:49 INFO: [Worker 0] Feasible grasp found 528 (originally 528): w/ 0.225[m] 16.582[deg] [grasp_sample.py: 539] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=556.8ms, total=556.9ms [env.py: 1105] +05/12 04:24:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:24:49 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:24:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:24:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:24:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:24:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:24:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:24:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:24:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:24:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:24:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:24:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:24:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:24:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:24:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109328m [env.py: 870] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:24:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58931102 -0.87669863 -0.10932835] yaw=-66.2deg [env.py: 1019] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12934304 -1.0852033 -0.10932835] yaw=-26.9deg [env.py: 1019] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:24:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=312.3ms, total=312.4ms [env.py: 1075] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.877, -0.109) [env.py: 1079] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 04:24:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:24:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:24:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:24:51 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 04:24:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 04:24:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:24:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:24:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:24:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.190s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:24:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.734[m] 93.290[deg] [grasp_sample.py: 539] +05/12 04:24:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:24:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.035s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:24:54 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.572[m] 38.671[deg] [grasp_sample.py: 539] +05/12 04:24:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:24:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:24:55 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:24:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:24:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:24:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:24:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:24:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:24:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:24:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168879m [env.py: 870] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:24:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48141043 -1.0612918 -0.1688788 ] yaw=-46.7deg [env.py: 1019] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:24:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=285.8ms, total=285.9ms [env.py: 1075] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.481, -1.061, -0.169) [env.py: 1079] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/12 04:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:24:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:24:57 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 04:24:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:24:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:24:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:24:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:24:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.719s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:24:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.618[m] 91.033[deg] [grasp_sample.py: 539] +05/12 04:24:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:24:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:24:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:24:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:25:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:25:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:25:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:25:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:25:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:25:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:25:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.566[m] 66.668[deg] [grasp_sample.py: 539] +05/12 04:25:25 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:25:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:25:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:25:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:25:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:25:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:25:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:25:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195685m [env.py: 870] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:25:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5946747 -0.80827158 -0.19568464] yaw=-72.7deg [env.py: 1019] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:25:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms [env.py: 1075] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.808, -0.196) [env.py: 1079] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.7 deg [env.py: 1082] +05/12 04:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:25:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:25:26 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 04:25:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:25:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:25:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:25:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:25:30 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:25:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.177s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:25:39 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.749[m] 88.866[deg] [grasp_sample.py: 539] +05/12 04:25:40 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:25:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:25:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:25:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:25:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:25:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110165m [env.py: 870] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09056429 -1.07798265 -0.11016527] yaw=-44.4deg [env.py: 1019] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms [env.py: 1075] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -1.078, -0.110) [env.py: 1079] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 04:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:25:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:25:41 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 04:25:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 04:25:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:25:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:25:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:25:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.420s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:25:43 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:25:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:25:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:25:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:25:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:25:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:25:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:25:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128624m [env.py: 870] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:25:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34371201 -1.17307959 -0.12862366] yaw=-53.0deg [env.py: 1019] +05/12 04:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:25:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.7ms [env.py: 1075] +05/12 04:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -1.173, -0.129) [env.py: 1079] +05/12 04:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 04:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 04:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:25:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:25:45 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 04:25:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:25:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:25:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:25:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:25:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.448s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:25:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.712[m] 89.110[deg] [grasp_sample.py: 539] +05/12 04:25:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:25:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:25:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:25:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:25:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:25:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:25:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:25:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:25:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 322 non-colliding grasps [grasp_sample.py: 465] +05/12 04:25:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.329s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:25:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.046[m] 1.445[deg] [grasp_sample.py: 539] +05/12 04:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:25:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:25:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:25:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:25:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:25:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:25:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:25:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:25:51 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 04:25:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:25:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:25:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.158[m] 20.713[deg] [grasp_sample.py: 539] +05/12 04:25:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:25:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:25:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:25:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:25:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:26:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:26:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:26:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.294s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:02 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.056[m] 0.259[deg] [grasp_sample.py: 539] +05/12 04:26:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:26:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:26:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:26:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:26:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.41s (batch: 3.44s, save: 8.97s) [pipeline.py: 300] +05/12 04:26:04 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.93s: + episode_total: mean=37.49s, total=149.96s, count=4, min=208.2ms, max=147298.5ms + sensor_polling: mean=356.4ms, total=100.16s, count=281, min=298.8ms, max=547.7ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8969.0ms, max=8969.0ms + physics_step: mean=21.8ms, total=6.13s, count=281, min=14.9ms, max=38.3ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3437.8ms, max=3437.8ms + task_specific_sample: mean=334.1ms, total=1.34s, count=4, min=204.5ms, max=492.7ms + task_sampling: mean=462.7ms, total=925.4ms, count=2, min=430.7ms, max=494.7ms + task_sampling_failed: mean=211.6ms, total=423.1ms, count=2, min=208.1ms, max=215.0ms + scene_randomize: mean=925.0us, total=3.7ms, count=4, min=0.9ms, max=1.0ms + mj_forward_sync: mean=379.3us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:26:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106392m [env.py: 870] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36785707 -1.05862064 -0.10639246] yaw=-48.1deg [env.py: 1019] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41437779 -1.02766208 -0.10639246] yaw=-42.0deg [env.py: 1019] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:26:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.4ms, total=186.5ms [env.py: 1075] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -1.059, -0.106) [env.py: 1079] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:26:06 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 04:26:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 04:26:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:08 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:26:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.388s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:11 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.722[m] 94.180[deg] [grasp_sample.py: 539] +05/12 04:26:12 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:26:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185057m [env.py: 870] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.6249621 -0.8607386 -0.18505667] yaw=-64.1deg [env.py: 1019] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:26:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=278.4ms, total=278.5ms [env.py: 1075] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.861, -0.185) [env.py: 1079] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 04:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:26:14 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 04:26:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:26:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:26:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.286s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.717[m] 97.018[deg] [grasp_sample.py: 539] +05/12 04:26:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:20 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:26:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173457m [env.py: 870] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=243.7ms, total=243.8ms [env.py: 1105] +05/12 04:26:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:26:21 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:26:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182826m [env.py: 870] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.6ms, total=189.6ms [env.py: 1105] +05/12 04:26:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:26:23 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:26:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147273m [env.py: 870] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2383485 -0.90046678 -0.14727345] yaw=-55.2deg [env.py: 1019] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36966782 -1.17201207 -0.14727345] yaw=-37.5deg [env.py: 1019] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:26:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.7ms, total=199.7ms [env.py: 1075] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -0.900, -0.147) [env.py: 1079] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 04:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:26:25 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 04:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.318s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:26:26 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:26:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:26:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:26:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175143m [env.py: 870] +05/12 04:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.1ms, total=218.1ms [env.py: 1105] +05/12 04:26:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:26:28 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:26:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:28 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.051[m] 0.673[deg] [grasp_sample.py: 539] +05/12 04:26:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:26:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:26:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141692m [env.py: 870] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29075247 -1.00277876 -0.14169223] yaw=-58.1deg [env.py: 1019] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41179956 -0.80116177 -0.14169223] yaw=-53.6deg [env.py: 1019] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.6ms [env.py: 1075] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.003, -0.142) [env.py: 1079] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 04:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:26:29 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 04:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:26:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:26:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:26:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.712s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:34 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.720[m] 83.474[deg] [grasp_sample.py: 539] +05/12 04:26:35 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:26:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146871m [env.py: 870] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42002183 -0.80564242 -0.14687101] yaw=-70.2deg [env.py: 1019] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:26:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=320.6ms, total=320.7ms [env.py: 1075] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.806, -0.147) [env.py: 1079] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg [env.py: 1082] +05/12 04:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:26:37 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 04:26:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:26:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:26:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.287s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:26:39 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:26:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176910m [env.py: 870] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39115445 -0.99733901 -0.17691048] yaw=-53.5deg [env.py: 1019] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:26:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms [env.py: 1075] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.997, -0.177) [env.py: 1079] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 04:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:26:40 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 04:26:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:26:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.221s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 83.736[deg] [grasp_sample.py: 539] +05/12 04:26:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:26:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:26:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:26:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:26:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:26:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.22s (batch: 3.50s, save: 10.73s) [pipeline.py: 300] +05/12 04:26:46 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=6.60s: + episode_total: mean=13.05s, total=261.01s, count=20, min=202.4ms, max=151188.0ms + sensor_polling: mean=331.1ms, total=115.56s, count=349, min=297.2ms, max=567.6ms + save_trajectories: mean=10.73s, total=10.73s, count=1, min=10726.7ms, max=10726.7ms + task_specific_sample: mean=400.9ms, total=8.02s, count=20, min=199.5ms, max=719.8ms + physics_step: mean=21.4ms, total=7.46s, count=349, min=14.8ms, max=56.9ms + task_sampling: mean=471.2ms, total=6.60s, count=14, min=307.4ms, max=722.8ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3496.1ms, max=3496.1ms + task_sampling_failed: mean=246.5ms, total=1.48s, count=6, min=202.4ms, max=360.9ms + scene_randomize: mean=1.2ms, total=23.4ms, count=20, min=0.9ms, max=1.7ms + mj_forward_sync: mean=435.4us, total=8.7ms, count=20, min=0.4ms, max=0.6ms + policy_setup: mean=12.5us, total=0.2ms, count=14, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=20, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:26:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:26:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:26:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:26:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:26:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:26:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117513m [env.py: 870] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:26:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60469288 -0.95321641 -0.11751293] yaw=-57.4deg [env.py: 1019] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44168719 -1.08562875 -0.11751293] yaw=-47.2deg [env.py: 1019] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:26:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.4ms, total=201.5ms [env.py: 1075] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.953, -0.118) [env.py: 1079] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg [env.py: 1082] +05/12 04:26:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:26:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:26:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:26:48 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 04:26:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 04:26:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:26:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.317s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:50 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.676[m] 84.462[deg] [grasp_sample.py: 539] +05/12 04:26:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:26:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:26:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:56 INFO: [Worker 0] Object is not in grasp! 0.00103 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:26:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:26:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:26:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:26:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 04:26:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.367s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:26:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.516[deg] [grasp_sample.py: 539] +05/12 04:26:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:26:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:26:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:26:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:27:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:27:09 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:27:09 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=1.00s: + episode_total: mean=109.64s, total=219.28s, count=2, min=87281.1ms, max=132001.6ms + sensor_polling: mean=365.0ms, total=164.25s, count=450, min=292.2ms, max=609.9ms + physics_step: mean=23.5ms, total=10.59s, count=450, min=15.0ms, max=79.4ms + task_sampling: mean=500.1ms, total=1.00s, count=2, min=454.0ms, max=546.2ms + task_specific_sample: mean=496.4ms, total=992.8ms, count=2, min=450.0ms, max=542.8ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms + mj_forward_sync: mean=536.1us, total=1.1ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=12.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:27:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:27:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:27:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:27:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:27:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:27:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:27:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179449m [env.py: 870] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:27:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.4ms, total=208.5ms [env.py: 1105] +05/12 04:27:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:27:11 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:27:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:27:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:27:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:27:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:27:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:27:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:27:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189868m [env.py: 870] +05/12 04:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:27:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=500.7ms, total=500.7ms [env.py: 1105] +05/12 04:27:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:27:13 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:27:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:27:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:27:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:27:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:27:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:27:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:27:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174285m [env.py: 870] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:27:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52734258 -0.81199733 -0.1742847 ] yaw=-76.1deg [env.py: 1019] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.41810883 -1.10067081 -0.1742847 ] yaw=-49.0deg [env.py: 1019] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:27:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.1ms [env.py: 1075] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.812, -0.174) [env.py: 1079] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.1 deg [env.py: 1082] +05/12 04:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:27:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:27:15 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 04:27:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:27:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:27:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:27:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:27:32 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:27:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:27:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:53 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:27:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:27:53 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 04:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:27:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:27:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:27:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:27:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:27:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/12 04:27:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:27:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 38.836s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:27:53 INFO: [Worker 0] Feasible grasp found 1097 (originally 433): w/ 0.791[m] 100.379[deg] [grasp_sample.py: 539] +05/12 04:27:55 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:27:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:27:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:27:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:27:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:27:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:27:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:27:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188167m [env.py: 870] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:27:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31592349 -1.11302491 -0.18816652] yaw=-33.0deg [env.py: 1019] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1993957 -1.00279271 -0.18816652] yaw=-39.7deg [env.py: 1019] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:27:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=200.5ms, total=200.5ms [env.py: 1075] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.316, -1.113, -0.188) [env.py: 1079] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg [env.py: 1082] +05/12 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:27:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:27:56 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 04:27:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 04:27:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:27:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:27:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:27:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:27:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.540s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:27:59 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.666[m] 79.574[deg] [grasp_sample.py: 539] +05/12 04:28:00 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:28:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:28:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:28:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:28:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:28:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:28:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136055m [env.py: 870] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:28:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32221367 -1.09665541 -0.13605525] yaw=-38.0deg [env.py: 1019] +05/12 04:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:28:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.9ms [env.py: 1075] +05/12 04:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.097, -0.136) [env.py: 1079] +05/12 04:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/12 04:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 04:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:28:02 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 04:28:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:28:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:28:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:28:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:28:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.312s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:28:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.725[m] 77.000[deg] [grasp_sample.py: 539] +05/12 04:28:04 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:28:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.334s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:28:04 INFO: [Worker 0] Feasible grasp found 289 (originally 289): w/ 0.068[m] 0.597[deg] [grasp_sample.py: 539] +05/12 04:28:05 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:28:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:28:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:28:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:28:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:28:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:28:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131161m [env.py: 870] +05/12 04:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:28:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38060506 -1.16183932 -0.13116093] yaw=-50.5deg [env.py: 1019] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:28:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.7ms [env.py: 1075] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -1.162, -0.131) [env.py: 1079] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/12 04:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 04:28:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:28:06 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 04:28:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:28:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:28:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:28:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:28:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:28:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.06s (batch: 3.53s, save: 9.53s) [pipeline.py: 300] +05/12 04:28:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:28:07 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=1.87s: + episode_total: mean=38.59s, total=192.97s, count=5, min=578.3ms, max=142537.9ms + sensor_polling: mean=347.1ms, total=113.84s, count=328, min=297.4ms, max=675.1ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9531.6ms, max=9531.6ms + physics_step: mean=23.0ms, total=7.53s, count=328, min=14.7ms, max=178.9ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3527.5ms, max=3527.5ms + task_specific_sample: mean=484.6ms, total=2.42s, count=5, min=421.0ms, max=593.2ms + task_sampling: mean=467.2ms, total=1.87s, count=4, min=423.3ms, max=595.8ms + task_sampling_failed: mean=578.2ms, total=578.2ms, count=1, min=578.2ms, max=578.2ms + scene_randomize: mean=1.5ms, total=7.7ms, count=5, min=1.0ms, max=2.9ms + mj_forward_sync: mean=454.9us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:28:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:28:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:28:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:28:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:28:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:28:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153390m [env.py: 870] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:28:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27254379 -1.22059762 -0.15339048] yaw=-27.8deg [env.py: 1019] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:28:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=181.5ms, total=181.5ms [env.py: 1075] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -1.221, -0.153) [env.py: 1079] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.8 deg [env.py: 1082] +05/12 04:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:28:07 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 04:28:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 04:28:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:28:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:28:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.312s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:28:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.633[m] 83.911[deg] [grasp_sample.py: 539] +05/12 04:28:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:28:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:28:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:28:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:28:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:28:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:28:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:28:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:28:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:28:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:28:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173201m [env.py: 870] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:28:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42125155 -1.10724026 -0.17320057] yaw=-45.9deg [env.py: 1019] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44234748 -0.80861146 -0.17320057] yaw=-64.7deg [env.py: 1019] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:28:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.6ms [env.py: 1075] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -1.107, -0.173) [env.py: 1079] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 04:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:28:09 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 04:28:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 04:28:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:28:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:28:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:28:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.602s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:28:09 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.660[m] 84.033[deg] [grasp_sample.py: 539] +05/12 04:28:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:28:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.609[m] 84.299[deg] [grasp_sample.py: 539] +05/12 04:28:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:28:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:28:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:28:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:28:10 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:28:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:28:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:28:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:28:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:28:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:28:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:28:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116996m [env.py: 870] +05/12 04:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:28:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:28:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44214131 -0.95526895 -0.11699611] yaw=-49.0deg [env.py: 1019] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46163247 -0.90200067 -0.11699611] yaw=-51.2deg [env.py: 1019] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:28:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.7ms [env.py: 1075] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -0.955, -0.117) [env.py: 1079] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/12 04:28:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/12 04:28:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:28:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:28:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:28:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:28:12 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 04:28:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:28:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:28:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:28:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:28:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:28:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.714[m] 85.910[deg] [grasp_sample.py: 539] +05/12 04:28:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:28:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:28:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:28:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:28:41 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:29:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:02 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:29:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:29:02 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 04:29:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:29:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:29:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:29:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:29:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.54s (batch: 3.49s, save: 9.05s) [pipeline.py: 300] +05/12 04:29:15 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=2.85s: + episode_total: mean=19.92s, total=179.27s, count=9, min=197.2ms, max=155054.8ms + sensor_polling: mean=399.7ms, total=108.72s, count=272, min=325.9ms, max=647.9ms + save_trajectories: mean=9.05s, total=9.05s, count=1, min=9054.8ms, max=9054.8ms + physics_step: mean=23.8ms, total=6.48s, count=272, min=14.6ms, max=47.1ms + task_specific_sample: mean=389.6ms, total=3.51s, count=9, min=194.4ms, max=609.3ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3487.2ms, max=3487.2ms + task_sampling: mean=474.7ms, total=2.85s, count=6, min=411.1ms, max=611.5ms + task_sampling_failed: mean=228.7ms, total=686.1ms, count=3, min=197.2ms, max=258.4ms + scene_randomize: mean=1.2ms, total=10.5ms, count=9, min=0.9ms, max=2.1ms + mj_forward_sync: mean=401.8us, total=3.6ms, count=9, min=0.4ms, max=0.5ms + policy_setup: mean=13.0us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:29:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:29:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:29:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:29:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:29:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:29:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199159m [env.py: 870] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:29:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.0ms, total=189.0ms [env.py: 1105] +05/12 04:29:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:29:16 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:29:17 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:29:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:29:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:29:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:29:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 338 non-colliding grasps [grasp_sample.py: 465] +05/12 04:29:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:29:18 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.124[m] 5.299[deg] [grasp_sample.py: 539] +05/12 04:29:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:29:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:29:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:29:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:29:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:29:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:29:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:29:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168510m [env.py: 870] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:29:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:29:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=239.4ms, total=239.4ms [env.py: 1105] +05/12 04:29:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:29:18 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:29:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:29:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:29:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:29:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:29:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:29:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:29:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195839m [env.py: 870] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:29:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.3ms, total=213.4ms [env.py: 1105] +05/12 04:29:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:29:20 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:29:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:29:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:29:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:29:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:29:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:29:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180282m [env.py: 870] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:29:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27417108 -1.00830022 -0.18028198] yaw=-43.9deg [env.py: 1019] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:29:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.8ms [env.py: 1075] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.008, -0.180) [env.py: 1079] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg [env.py: 1082] +05/12 04:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:29:21 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 04:29:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 04:29:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:29:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:29:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:29:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:29:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:29:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:29:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:29:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.160s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:29:28 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.735[m] 73.565[deg] [grasp_sample.py: 539] +05/12 04:29:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:29:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:29:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:29:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.910s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:29:33 INFO: [Worker 0] Feasible grasp found 169 (originally 169): w/ 0.106[m] 19.439[deg] [grasp_sample.py: 539] +05/12 04:29:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:29:35 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:29:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:29:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:29:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:29:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:29:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:29:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184974m [env.py: 870] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:29:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35974231 -0.95162535 -0.18497369] yaw=-57.6deg [env.py: 1019] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63107782 -0.86954576 -0.18497369] yaw=-71.5deg [env.py: 1019] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:29:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.0ms, total=208.0ms [env.py: 1075] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.360, -0.952, -0.185) [env.py: 1079] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 04:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:29:36 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 04:29:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:29:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:29:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:29:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:29:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:29:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.739[m] 83.378[deg] [grasp_sample.py: 539] +05/12 04:29:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:39 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:29:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:29:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:29:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:29:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:29:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:29:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:29:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:29:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:29:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:29:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177219m [env.py: 870] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:29:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 381 non-colliding grasps [grasp_sample.py: 465] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35996812 -1.13612477 -0.17721906] yaw=-39.3deg [env.py: 1019] +05/12 04:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:29:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=512.3ms, total=512.3ms [env.py: 1075] +05/12 04:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.360, -1.136, -0.177) [env.py: 1079] +05/12 04:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/12 04:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 04:29:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:29:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:29:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.496s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:29:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.125[m] 4.435[deg] [grasp_sample.py: 539] +05/12 04:29:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:29:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:29:41 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 04:29:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:29:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:29:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:29:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:29:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:29:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:29:42 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.634[m] 81.230[deg] [grasp_sample.py: 539] +05/12 04:29:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:29:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:29:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:29:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:29:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:30:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:30:01 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:30:05 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:30:05 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=False episode_total=1.66s: + episode_total: mean=28.04s, total=168.22s, count=6, min=219.3ms, max=119786.6ms + sensor_polling: mean=334.0ms, total=100.19s, count=300, min=296.4ms, max=610.0ms + physics_step: mean=22.2ms, total=6.65s, count=300, min=14.7ms, max=57.1ms + task_specific_sample: mean=395.1ms, total=2.37s, count=6, min=213.9ms, max=505.4ms + task_sampling: mean=415.3ms, total=1.66s, count=4, min=397.6ms, max=428.2ms + task_sampling_failed: mean=364.1ms, total=728.2ms, count=2, min=219.3ms, max=509.0ms + scene_randomize: mean=1.2ms, total=7.3ms, count=6, min=0.9ms, max=1.7ms + mj_forward_sync: mean=414.3us, total=2.5ms, count=6, min=0.4ms, max=0.5ms + policy_setup: mean=13.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151565m [env.py: 870] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.64560188 -0.97958013 -0.15156531] yaw=-58.3deg [env.py: 1019] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=234.4ms, total=234.4ms [env.py: 1075] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.646, -0.980, -0.152) [env.py: 1079] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 04:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:30:07 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 04:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 04:30:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:30:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:30:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:30:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.081s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:30:09 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.657[m] 79.548[deg] [grasp_sample.py: 539] +05/12 04:30:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:30:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:30:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:30:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:30:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:30:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:30:21 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/12 04:30:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:30:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:30:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:30:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:30:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.75s (batch: 3.38s, save: 8.37s) [pipeline.py: 300] +05/12 04:30:33 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.49s: + episode_total: mean=145.15s, total=145.15s, count=1, min=145145.8ms, max=145145.8ms + sensor_polling: mean=381.1ms, total=98.69s, count=259, min=293.4ms, max=571.8ms + save_trajectories: mean=8.37s, total=8.37s, count=1, min=8368.9ms, max=8368.9ms + physics_step: mean=24.4ms, total=6.31s, count=259, min=14.9ms, max=34.4ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3378.9ms, max=3378.9ms + task_sampling: mean=488.7ms, total=488.7ms, count=1, min=488.7ms, max=488.7ms + task_specific_sample: mean=484.5ms, total=484.5ms, count=1, min=484.5ms, max=484.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=672.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:30:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:30:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160209m [env.py: 870] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1105] +05/12 04:30:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:30:35 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:30:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:30:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155058m [env.py: 870] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.7ms, total=210.8ms [env.py: 1105] +05/12 04:30:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:30:36 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:30:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168896m [env.py: 870] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38088766 -0.91146843 -0.16889592] yaw=-47.7deg [env.py: 1019] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47560617 -0.86472683 -0.16889592] yaw=-54.6deg [env.py: 1019] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:30:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1075] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -0.911, -0.169) [env.py: 1079] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg [env.py: 1082] +05/12 04:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:30:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:30:38 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 04:30:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 04:30:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:30:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:30:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:30:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:30:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.892s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:30:46 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.762[m] 86.481[deg] [grasp_sample.py: 539] +05/12 04:30:47 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:30:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156017m [env.py: 870] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.7ms, total=198.8ms [env.py: 1105] +05/12 04:30:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:30:49 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:30:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167800m [env.py: 870] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27553438 -0.98042812 -0.16779953] yaw=-50.3deg [env.py: 1019] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33072403 -0.89455944 -0.16779953] yaw=-56.1deg [env.py: 1019] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50596254 -0.98464056 -0.16779953] yaw=-67.1deg [env.py: 1019] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:30:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms [env.py: 1075] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.980, -0.168) [env.py: 1079] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 04:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:30:50 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 04:30:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:30:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:30:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:30:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:30:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.608s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:30:52 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.766[m] 91.526[deg] [grasp_sample.py: 539] +05/12 04:30:53 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:30:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182916m [env.py: 870] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1105] +05/12 04:30:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:30:54 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156382m [env.py: 870] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=227.7ms, total=227.8ms [env.py: 1105] +05/12 04:30:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:30:56 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:30:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:30:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190510m [env.py: 870] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35874741 -1.1357079 -0.19051001] yaw=-48.9deg [env.py: 1019] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.1ms, total=201.1ms [env.py: 1075] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.136, -0.191) [env.py: 1079] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 04:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:30:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:30:57 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 04:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:30:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:30:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:31:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:31:00 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.605[m] 88.605[deg] [grasp_sample.py: 539] +05/12 04:31:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:31:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:31:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:31:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:31:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:20 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:31:23 INFO: [Worker 0] Object is not in grasp! 0.00173 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:31:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:31:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:31:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:31:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 409 non-colliding grasps [grasp_sample.py: 465] +05/12 04:31:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:31:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.130[m] 4.627[deg] [grasp_sample.py: 539] +05/12 04:31:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:31:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:31:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:28 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:31:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:39 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:31:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:31:39 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 04:31:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:31:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:48 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:31:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:31:48 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 04:31:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:31:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:31:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.34s (batch: 3.51s, save: 8.83s) [pipeline.py: 300] +05/12 04:31:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:31:52 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=2.47s: + episode_total: mean=59.94s, total=299.72s, count=5, min=3046.3ms, max=132094.3ms + sensor_polling: mean=349.8ms, total=193.07s, count=552, min=291.5ms, max=606.5ms + physics_step: mean=21.8ms, total=12.04s, count=552, min=14.6ms, max=39.2ms + save_trajectories: mean=8.83s, total=8.83s, count=1, min=8831.8ms, max=8831.8ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3512.9ms, max=3512.9ms + task_sampling: mean=493.2ms, total=2.47s, count=5, min=399.8ms, max=742.0ms + task_specific_sample: mean=490.2ms, total=2.45s, count=5, min=397.2ms, max=738.6ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.3ms + mj_forward_sync: mean=407.1us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:31:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:31:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:31:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:31:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:31:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:31:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:31:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:31:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:31:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:31:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103984m [env.py: 870] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:31:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22552223 -1.08057659 -0.10398384] yaw=-37.5deg [env.py: 1019] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:31:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:31:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1075] +05/12 04:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.081, -0.104) [env.py: 1079] +05/12 04:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 04:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 04:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:31:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:31:54 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 04:31:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 04:31:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:31:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:31:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:31:54 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:31:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:31:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:31:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:31:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 340 non-colliding grasps [grasp_sample.py: 465] +05/12 04:31:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.425s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:31:55 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.128[m] 3.917[deg] [grasp_sample.py: 539] +05/12 04:31:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:31:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:31:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:31:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:32:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:32:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:32:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.71s (batch: 3.41s, save: 10.30s) [pipeline.py: 300] +05/12 04:32:03 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.48s: + episode_total: mean=40.67s, total=162.67s, count=4, min=202.4ms, max=162000.0ms + sensor_polling: mean=392.0ms, total=110.15s, count=281, min=320.8ms, max=622.5ms + save_trajectories: mean=10.30s, total=10.30s, count=1, min=10297.7ms, max=10297.7ms + physics_step: mean=23.5ms, total=6.61s, count=281, min=15.2ms, max=40.3ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3411.5ms, max=3411.5ms + task_specific_sample: mean=282.6ms, total=1.13s, count=4, min=194.7ms, max=473.6ms + task_sampling_failed: mean=223.5ms, total=670.6ms, count=3, min=202.4ms, max=247.4ms + task_sampling: mean=475.5ms, total=475.5ms, count=1, min=475.5ms, max=475.5ms + scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=0.9ms, max=2.2ms + mj_forward_sync: mean=365.8us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:32:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:32:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:32:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:32:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:32:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193386m [env.py: 870] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=334.4ms, total=334.4ms [env.py: 1105] +05/12 04:32:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:32:04 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:32:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:32:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:32:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118176m [env.py: 870] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28933622 -0.8652827 -0.11817588] yaw=-45.7deg [env.py: 1019] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.9ms, total=196.9ms [env.py: 1075] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -0.865, -0.118) [env.py: 1079] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/12 04:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:32:06 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 04:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 04:32:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:32:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:32:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:32:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.528s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:32:08 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:32:09 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:32:09 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=0.46s: + episode_total: mean=122.01s, total=122.01s, count=1, min=122006.3ms, max=122006.3ms + sensor_polling: mean=351.8ms, total=105.53s, count=300, min=304.7ms, max=678.9ms + physics_step: mean=22.7ms, total=6.81s, count=300, min=14.7ms, max=58.1ms + task_sampling: mean=455.2ms, total=455.2ms, count=1, min=455.2ms, max=455.2ms + task_specific_sample: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=600.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=11.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:32:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:32:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:32:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:32:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:32:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:32:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108227m [env.py: 870] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:32:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4826135 -0.96321381 -0.1082272 ] yaw=-52.3deg [env.py: 1019] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22101916 -0.93111919 -0.1082272 ] yaw=-52.6deg [env.py: 1019] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:32:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.4ms [env.py: 1075] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.963, -0.108) [env.py: 1079] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 04:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:32:09 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 04:32:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:32:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:32:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:32:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:32:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.804s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:32:10 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.762[m] 93.820[deg] [grasp_sample.py: 539] +05/12 04:32:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:32:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:32:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:32:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:32:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:32:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178261m [env.py: 870] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:32:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22986126 -0.99373272 -0.17826115] yaw=-56.4deg [env.py: 1019] +05/12 04:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:32:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=384.3ms, total=384.4ms [env.py: 1075] +05/12 04:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -0.994, -0.178) [env.py: 1079] +05/12 04:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 04:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 04:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:32:11 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 04:32:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 04:32:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:32:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:32:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:32:11 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:32:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:32:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:32:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:32:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132760m [env.py: 870] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45109437 -0.95237358 -0.13275955] yaw=-50.5deg [env.py: 1019] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.176s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:32:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.729[m] 85.904[deg] [grasp_sample.py: 539] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:32:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.5ms [env.py: 1075] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.952, -0.133) [env.py: 1079] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/12 04:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:32:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:32:13 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 04:32:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:32:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:32:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:32:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:32:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:32:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:32:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:32:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.857s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:32:16 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 04:32:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.851s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:32:16 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.714[m] 82.170[deg] [grasp_sample.py: 539] +05/12 04:32:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:32:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:32:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:32:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:32:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:32:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:32:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:32:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:32:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:32:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153525m [env.py: 870] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:32:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52556457 -1.03050372 -0.1535249 ] yaw=-65.9deg [env.py: 1019] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29927739 -0.94074271 -0.1535249 ] yaw=-42.0deg [env.py: 1019] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:32:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=415.3ms, total=415.3ms [env.py: 1075] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -1.031, -0.154) [env.py: 1079] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 04:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:32:19 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 04:32:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 04:32:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:32:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:32:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:32:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.050s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:32:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.633[m] 87.044[deg] [grasp_sample.py: 539] +05/12 04:32:21 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:32:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:32:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:32:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182930m [env.py: 870] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40344158 -1.13629552 -0.18292968] yaw=-56.7deg [env.py: 1019] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms [env.py: 1075] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.136, -0.183) [env.py: 1079] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 04:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:32:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:32:23 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 04:32:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:32:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:32:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:32:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:32:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.940s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:32:26 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.633[m] 74.969[deg] [grasp_sample.py: 539] +05/12 04:32:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:32:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:32:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:32:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:32:40 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:33:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:33:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:33:03 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/12 04:33:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:33:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:33:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:33:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.96s (batch: 3.40s, save: 8.56s) [pipeline.py: 300] +05/12 04:33:16 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=1.18s: + episode_total: mean=19.07s, total=152.52s, count=8, min=206.8ms, max=138716.7ms + sensor_polling: mean=349.4ms, total=89.80s, count=257, min=299.9ms, max=553.6ms + save_trajectories: mean=8.56s, total=8.56s, count=1, min=8557.2ms, max=8557.2ms + physics_step: mean=23.1ms, total=5.93s, count=257, min=14.7ms, max=82.6ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3402.2ms, max=3402.2ms + task_specific_sample: mean=281.2ms, total=2.25s, count=8, min=203.6ms, max=452.9ms + task_sampling: mean=394.9ms, total=1.18s, count=3, min=326.3ms, max=455.0ms + task_sampling_failed: mean=218.0ms, total=1.09s, count=5, min=206.8ms, max=235.4ms + scene_randomize: mean=1.2ms, total=9.4ms, count=8, min=1.0ms, max=2.1ms + mj_forward_sync: mean=449.0us, total=3.6ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=11.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:33:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177177m [env.py: 870] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33766696 -1.16250819 -0.17717735] yaw=-44.2deg [env.py: 1019] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:33:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.2ms, total=217.3ms [env.py: 1075] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.163, -0.177) [env.py: 1079] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/12 04:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:33:17 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 04:33:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 04:33:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:33:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.614[m] 82.717[deg] [grasp_sample.py: 539] +05/12 04:33:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:20 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:33:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198607m [env.py: 870] +05/12 04:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=401.7ms, total=401.8ms [env.py: 1105] +05/12 04:33:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:33:22 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:33:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127874m [env.py: 870] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.2ms, total=187.2ms [env.py: 1105] +05/12 04:33:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:33:23 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:33:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112852m [env.py: 870] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40056022 -1.12846021 -0.11285237] yaw=-49.9deg [env.py: 1019] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:33:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.0ms, total=210.0ms [env.py: 1075] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.401, -1.128, -0.113) [env.py: 1079] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 04:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:33:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:33:25 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 04:33:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 04:33:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.860s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.653[m] 97.107[deg] [grasp_sample.py: 539] +05/12 04:33:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.896s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:27 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.133[m] 18.303[deg] [grasp_sample.py: 539] +05/12 04:33:27 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:33:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:33:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:33:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:28 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:33:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:33:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 349 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182147m [env.py: 870] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.7ms, total=213.8ms [env.py: 1105] +05/12 04:33:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:33:29 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:33:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:29 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.060[m] 5.222[deg] [grasp_sample.py: 539] +05/12 04:33:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:33:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:33:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175606m [env.py: 870] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50341984 -0.78983315 -0.17560591] yaw=-71.4deg [env.py: 1019] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:33:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.3ms [env.py: 1075] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.790, -0.176) [env.py: 1079] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg [env.py: 1082] +05/12 04:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:33:31 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 04:33:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:33:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:33 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 04:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103189m [env.py: 870] +05/12 04:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3038072 -0.92010773 -0.10318906] yaw=-45.0deg [env.py: 1019] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23686306 -0.9561968 -0.10318906] yaw=-56.2deg [env.py: 1019] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:33:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.8ms, total=227.8ms [env.py: 1075] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -0.920, -0.103) [env.py: 1079] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg [env.py: 1082] +05/12 04:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 04:33:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:33:35 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 04:33:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 04:33:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.284s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:33:36 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179316m [env.py: 870] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49797393 -0.95097013 -0.17931571] yaw=-69.8deg [env.py: 1019] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34844534 -1.16578529 -0.17931571] yaw=-43.9deg [env.py: 1019] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:33:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms [env.py: 1075] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.951, -0.179) [env.py: 1079] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg [env.py: 1082] +05/12 04:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:33:38 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 04:33:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:33:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:33:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.543s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.685[m] 93.744[deg] [grasp_sample.py: 539] +05/12 04:33:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:33:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:33:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:33:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:42 INFO: [Worker 0] Feasible grasp found 16 (originally 16): w/ 0.173[m] 23.350[deg] [grasp_sample.py: 539] +05/12 04:33:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:44 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:33:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:33:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:33:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:33:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:33:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:33:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:33:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191740m [env.py: 870] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:33:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45898875 -0.96294267 -0.19174011] yaw=-49.7deg [env.py: 1019] +05/12 04:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38415595 -1.00190983 -0.19174011] yaw=-51.2deg [env.py: 1019] +05/12 04:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:33:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=542.7ms, total=542.7ms [env.py: 1075] +05/12 04:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -0.963, -0.192) [env.py: 1079] +05/12 04:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 04:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 04:33:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:33:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:33:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:33:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:33:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:33:46 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 04:33:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 04:33:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:33:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:33:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:33:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.661s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:33:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.679[m] 78.354[deg] [grasp_sample.py: 539] +05/12 04:33:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:33:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:33:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:33:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:33:59 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:17 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:34:22 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:34:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:34:22 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 04:34:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:34:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:34:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.89s (batch: 3.21s, save: 9.67s) [pipeline.py: 300] +05/12 04:34:35 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.85s: + episode_total: mean=80.15s, total=160.31s, count=2, min=17737.0ms, max=142569.0ms + sensor_polling: mean=341.2ms, total=94.51s, count=277, min=301.5ms, max=588.2ms + save_trajectories: mean=9.67s, total=9.67s, count=1, min=9672.4ms, max=9672.4ms + physics_step: mean=21.7ms, total=6.00s, count=277, min=18.9ms, max=46.7ms + save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3213.1ms, max=3213.1ms + task_sampling: mean=424.9ms, total=849.7ms, count=2, min=414.6ms, max=435.1ms + task_specific_sample: mean=421.5ms, total=843.0ms, count=2, min=410.7ms, max=432.3ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=410.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:34:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:34:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:34:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:34:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:34:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:34:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:34:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128677m [env.py: 870] +05/12 04:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:34:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64884544 -0.88008068 -0.12867748] yaw=-76.0deg [env.py: 1019] +05/12 04:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:34:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=347.1ms, total=347.2ms [env.py: 1075] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.880, -0.129) [env.py: 1079] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.0 deg [env.py: 1082] +05/12 04:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 04:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:34:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:34:37 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 04:34:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 04:34:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:34:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:34:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:34:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.538s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:34:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.736[m] 92.257[deg] [grasp_sample.py: 539] +05/12 04:34:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:34:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:34:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:34:39 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:34:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:34:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:34:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:34:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:34:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:34:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:34:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187027m [env.py: 870] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:34:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27109844 -1.15368119 -0.18702693] yaw=-37.9deg [env.py: 1019] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:34:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms [env.py: 1075] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -1.154, -0.187) [env.py: 1079] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 04:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:34:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:34:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:34:41 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 04:34:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:34:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:34:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:34:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.400s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:34:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.637[m] 82.145[deg] [grasp_sample.py: 539] +05/12 04:34:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:34:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:34:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:34:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:34:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:34:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.76s (batch: 3.20s, save: 9.56s) [pipeline.py: 300] +05/12 04:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:52 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=1.72s: + episode_total: mean=52.70s, total=158.10s, count=3, min=2953.2ms, max=149480.8ms + sensor_polling: mean=333.0ms, total=99.90s, count=300, min=294.3ms, max=677.2ms + save_trajectories: mean=9.56s, total=9.56s, count=1, min=9561.0ms, max=9561.0ms + physics_step: mean=22.4ms, total=6.71s, count=300, min=14.7ms, max=65.6ms + save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3202.0ms, max=3202.0ms + task_sampling: mean=573.2ms, total=1.72s, count=3, min=405.4ms, max=677.5ms + task_specific_sample: mean=570.4ms, total=1.71s, count=3, min=402.7ms, max=675.0ms + scene_randomize: mean=1.0ms, total=3.0ms, count=3, min=0.9ms, max=1.2ms + mj_forward_sync: mean=402.7us, total=1.2ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=12.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:34:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:34:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:34:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:34:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:34:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:34:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193427m [env.py: 870] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:34:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56868172 -0.89195345 -0.19342686] yaw=-54.6deg [env.py: 1019] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:34:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.5ms [env.py: 1075] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.892, -0.193) [env.py: 1079] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 04:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:34:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:34:53 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 04:34:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 04:34:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:34:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:34:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:34:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:34:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:34:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:34:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:34:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.930s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:34:58 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.723[m] 89.046[deg] [grasp_sample.py: 539] +05/12 04:34:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.392s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:34:59 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.248[m] 18.695[deg] [grasp_sample.py: 539] +05/12 04:34:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:35:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:35:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:00 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:35:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152335m [env.py: 870] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.6ms, total=224.6ms [env.py: 1105] +05/12 04:35:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:35:01 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107665m [env.py: 870] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.8ms, total=211.9ms [env.py: 1105] +05/12 04:35:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:35:03 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:35:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.881s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:03 INFO: [Worker 0] Feasible grasp found 655 (originally 655): w/ 0.624[m] 28.000[deg] [grasp_sample.py: 539] +05/12 04:35:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:35:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120840m [env.py: 870] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:04 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53583666 -1.0323086 -0.12083978] yaw=-51.0deg [env.py: 1019] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6164081 -0.87857554 -0.12083978] yaw=-67.4deg [env.py: 1019] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:35:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.0ms, total=206.0ms [env.py: 1075] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -1.032, -0.121) [env.py: 1079] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 04:35:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:35:04 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 04:35:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 04:35:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.855s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:05 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.125[m] 11.995[deg] [grasp_sample.py: 539] +05/12 04:35:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:35:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165455m [env.py: 870] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:35:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30172767 -0.94311048 -0.16545475] yaw=-50.0deg [env.py: 1019] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21830866 -0.99027029 -0.16545475] yaw=-42.9deg [env.py: 1019] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:35:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=207.6ms, total=207.6ms [env.py: 1075] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -0.943, -0.165) [env.py: 1079] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg [env.py: 1082] +05/12 04:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:35:06 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 04:35:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 04:35:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.550s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.631[m] 88.392[deg] [grasp_sample.py: 539] +05/12 04:35:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:35:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:35:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:35:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.650s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.751[m] 87.167[deg] [grasp_sample.py: 539] +05/12 04:35:09 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:35:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194629m [env.py: 870] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=686.0ms, total=686.0ms [env.py: 1105] +05/12 04:35:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:35:11 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:35:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145620m [env.py: 870] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46546867 -0.79431981 -0.14562039] yaw=-66.0deg [env.py: 1019] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:35:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=464.5ms, total=464.5ms [env.py: 1075] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.794, -0.146) [env.py: 1079] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/12 04:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:35:13 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 04:35:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 04:35:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.343s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:35:14 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:35:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167174m [env.py: 870] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48764275 -0.89096003 -0.16717413] yaw=-72.5deg [env.py: 1019] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:35:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.8ms, total=208.8ms [env.py: 1075] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.891, -0.167) [env.py: 1079] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.5 deg [env.py: 1082] +05/12 04:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:35:16 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 04:35:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 04:35:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:21 INFO: [Worker 0] Feasible grasp found 386 (originally 386): w/ 0.175[m] 11.418[deg] [grasp_sample.py: 539] +05/12 04:35:22 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177826m [env.py: 870] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=630.5ms, total=630.6ms [env.py: 1105] +05/12 04:35:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:35:24 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131058m [env.py: 870] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50729271 -0.82669203 -0.13105791] yaw=-70.4deg [env.py: 1019] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48641651 -1.0756794 -0.13105791] yaw=-44.1deg [env.py: 1019] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=510.1ms, total=510.1ms [env.py: 1075] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.827, -0.131) [env.py: 1079] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg [env.py: 1082] +05/12 04:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:35:26 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 04:35:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 04:35:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.784s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.771[m] 97.233[deg] [grasp_sample.py: 539] +05/12 04:35:30 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:35:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163858m [env.py: 870] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24941161 -1.14714477 -0.16385844] yaw=-36.8deg [env.py: 1019] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31713565 -1.12703218 -0.16385844] yaw=-34.6deg [env.py: 1019] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=552.3ms, total=552.3ms [env.py: 1075] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.147, -0.164) [env.py: 1079] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg [env.py: 1082] +05/12 04:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:35:32 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 04:35:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:35:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.009s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:34 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.669[m] 88.540[deg] [grasp_sample.py: 539] +05/12 04:35:35 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:35:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:35:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:35:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:35:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:35:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:35:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:35:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184671m [env.py: 870] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:35:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6713378 -0.9622396 -0.18467116] yaw=-77.6deg [env.py: 1019] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59984617 -0.80154936 -0.18467116] yaw=-71.9deg [env.py: 1019] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53202755 -0.95843051 -0.18467116] yaw=-54.7deg [env.py: 1019] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:35:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=480.6ms, total=480.7ms [env.py: 1075] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.671, -0.962, -0.185) [env.py: 1079] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.6 deg [env.py: 1082] +05/12 04:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 04:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:35:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:35:37 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 04:35:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:35:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:35:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:35:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:35:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.901s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.607[m] 80.235[deg] [grasp_sample.py: 539] +05/12 04:35:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.834s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:35:38 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.713[m] 91.361[deg] [grasp_sample.py: 539] +05/12 04:35:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:35:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:35:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:35:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:35:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:36:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:36:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:36:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:36:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:36:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:36:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.810s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:36:06 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.469[m] 53.648[deg] [grasp_sample.py: 539] +05/12 04:36:07 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:36:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:36:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:36:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:36:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:36:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:36:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:36:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192964m [env.py: 870] +05/12 04:36:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:36:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=340.2ms, total=340.3ms [env.py: 1105] +05/12 04:36:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:36:09 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:36:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:36:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:36:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:36:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:36:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:36:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159959m [env.py: 870] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:36:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37504439 -1.08818523 -0.15995911] yaw=-47.5deg [env.py: 1019] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34820698 -1.10352333 -0.15995911] yaw=-57.0deg [env.py: 1019] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:36:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.3ms, total=216.3ms [env.py: 1075] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -1.088, -0.160) [env.py: 1079] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 04:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:36:11 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 04:36:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 04:36:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:36:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:36:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:36:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.786s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:36:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.664[m] 84.087[deg] [grasp_sample.py: 539] +05/12 04:36:16 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:36:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:36:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:36:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:36:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:36:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:36:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117280m [env.py: 870] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:36:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.9ms, total=193.9ms [env.py: 1105] +05/12 04:36:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:36:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:36:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125882m [env.py: 870] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5967791 -0.97385228 -0.12588213] yaw=-60.1deg [env.py: 1019] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60761477 -0.96306113 -0.12588213] yaw=-56.3deg [env.py: 1019] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26724842 -1.15201816 -0.12588213] yaw=-41.6deg [env.py: 1019] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.9ms, total=184.9ms [env.py: 1075] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.597, -0.974, -0.126) [env.py: 1079] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 04:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:36:19 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 04:36:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:36:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:36:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:36:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:36:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.085s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:36:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.673[m] 83.950[deg] [grasp_sample.py: 539] +05/12 04:36:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:36:20 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:36:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:36:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:36:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:36:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:36:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:36:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:36:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 496 non-colliding grasps [grasp_sample.py: 465] +05/12 04:36:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.634s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:36:39 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.043[m] 19.172[deg] [grasp_sample.py: 539] +05/12 04:36:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:40 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:36:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:36:40 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 04:36:40 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:36:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:36:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:36:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:36:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:36:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:36:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:36:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183050m [env.py: 870] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:36:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30651849 -0.91599833 -0.18304998] yaw=-48.1deg [env.py: 1019] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:36:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms [env.py: 1075] +05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -0.916, -0.183) [env.py: 1079] +05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 04:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m [env.py: 1086] +05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:36:42 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 04:36:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 04:36:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:36:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:36:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:36:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:47 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:36:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.196s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:36:51 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 04:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:36:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:36:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146047m [env.py: 870] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:36:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:36:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.71s (batch: 3.43s, save: 9.27s) [pipeline.py: 300] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27242985 -0.96835992 -0.14604696] yaw=-48.4deg [env.py: 1019] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms [env.py: 1075] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -0.968, -0.146) [env.py: 1079] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/12 04:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:36:53 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 04:36:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:36:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:36:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:36:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:36:53 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.01s: + episode_total: mean=67.73s, total=135.47s, count=2, min=2475.9ms, max=132990.1ms + sensor_polling: mean=343.5ms, total=90.00s, count=262, min=301.1ms, max=659.6ms + save_trajectories: mean=9.27s, total=9.27s, count=1, min=9272.8ms, max=9272.8ms + physics_step: mean=22.2ms, total=5.82s, count=262, min=15.1ms, max=37.8ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3435.0ms, max=3435.0ms + task_sampling: mean=506.7ms, total=1.01s, count=2, min=416.2ms, max=597.1ms + task_specific_sample: mean=503.5ms, total=1.01s, count=2, min=413.5ms, max=593.5ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.4ms + mj_forward_sync: mean=435.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:36:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:36:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:36:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:36:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:36:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:36:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163572m [env.py: 870] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:36:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26782747 -1.21829135 -0.16357207] yaw=-45.2deg [env.py: 1019] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:36:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.6ms, total=190.6ms [env.py: 1075] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -1.218, -0.164) [env.py: 1079] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg [env.py: 1082] +05/12 04:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:36:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:36:55 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 04:36:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 04:36:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:36:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:36:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:36:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.971s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:36:58 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.671[m] 76.677[deg] [grasp_sample.py: 539] +05/12 04:36:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:36:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:36:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:36:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:37:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.239s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:00 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 04:37:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:37:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:37:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:37:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:37:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:37:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191024m [env.py: 870] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:37:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.1ms, total=224.1ms [env.py: 1105] +05/12 04:37:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:37:02 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:37:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:37:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:37:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:37:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:37:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:37:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123646m [env.py: 870] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:37:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5213584 -0.74067515 -0.12364637] yaw=-72.3deg [env.py: 1019] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:37:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=320.3ms, total=320.4ms [env.py: 1075] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.741, -0.124) [env.py: 1079] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.3 deg [env.py: 1082] +05/12 04:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:37:03 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 04:37:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:37:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:37:05 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:37:06 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:37:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:37:06 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 04:37:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:37:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:37:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:37:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:37:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:37:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143559m [env.py: 870] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:37:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=193.8ms, total=193.9ms [env.py: 1105] +05/12 04:37:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:37:07 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:37:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:37:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:37:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:37:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:37:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:37:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159897m [env.py: 870] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:37:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61505774 -0.96042201 -0.15989664] yaw=-58.1deg [env.py: 1019] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63192755 -0.98557499 -0.15989664] yaw=-62.3deg [env.py: 1019] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26873677 -0.9429864 -0.15989664] yaw=-41.3deg [env.py: 1019] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:37:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.8ms [env.py: 1075] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.960, -0.160) [env.py: 1079] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 04:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:37:08 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 04:37:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:37:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.854s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:10 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.654[m] 93.173[deg] [grasp_sample.py: 539] +05/12 04:37:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:37:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:37:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:37:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:37:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.74s (batch: 3.29s, save: 8.44s) [pipeline.py: 300] +05/12 04:37:18 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.89s: + episode_total: mean=35.36s, total=141.45s, count=4, min=219.4ms, max=134294.2ms + sensor_polling: mean=352.1ms, total=92.26s, count=262, min=299.5ms, max=750.3ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8442.7ms, max=8442.7ms + physics_step: mean=22.8ms, total=5.97s, count=262, min=15.1ms, max=66.4ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3293.7ms, max=3293.7ms + task_specific_sample: mean=333.2ms, total=1.33s, count=4, min=216.6ms, max=454.3ms + task_sampling: mean=446.3ms, total=892.5ms, count=2, min=434.2ms, max=458.3ms + task_sampling_failed: mean=227.2ms, total=454.4ms, count=2, min=219.4ms, max=235.0ms + scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=0.9ms, max=2.6ms + mj_forward_sync: mean=422.5us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:37:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:37:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:37:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:37:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:37:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:37:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141121m [env.py: 870] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:37:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.2ms, total=215.3ms [env.py: 1105] +05/12 04:37:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:37:20 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:37:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:37:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:37:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:37:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:37:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:37:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150680m [env.py: 870] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:37:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57257346 -0.98748153 -0.15068007] yaw=-67.2deg [env.py: 1019] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:37:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.9ms, total=227.0ms [env.py: 1075] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.987, -0.151) [env.py: 1079] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/12 04:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:37:22 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 04:37:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 04:37:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.068s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.655[m] 85.612[deg] [grasp_sample.py: 539] +05/12 04:37:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:37:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:37:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:37:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:37:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.646s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.481[m] 63.718[deg] [grasp_sample.py: 539] +05/12 04:37:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:37:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:37:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:37:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:37:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.742s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.476[m] 62.964[deg] [grasp_sample.py: 539] +05/12 04:37:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:37:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:37:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:37:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:37:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.822s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:52 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.053[m] 0.708[deg] [grasp_sample.py: 539] +05/12 04:37:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:37:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:37:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.618s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.476[m] 58.974[deg] [grasp_sample.py: 539] +05/12 04:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:53 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:37:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199509m [env.py: 870] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:37:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.345251 -1.1737645 -0.1995092] yaw=-33.0deg [env.py: 1019] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=272.0ms, total=272.1ms [env.py: 1075] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.174, -0.200) [env.py: 1079] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg [env.py: 1082] +05/12 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:37:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:37:55 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 04:37:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:37:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:37:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:37:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:37:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.809s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:37:58 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.603[m] 92.933[deg] [grasp_sample.py: 539] +05/12 04:37:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:37:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:37:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:37:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:38:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:38:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:38:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:38:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:38:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.953s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:38:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.476[m] 62.966[deg] [grasp_sample.py: 539] +05/12 04:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:38:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:38:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:38:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:13 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:38:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:38:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:38:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:38:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 385 non-colliding grasps [grasp_sample.py: 465] +05/12 04:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.431s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:38:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.048[m] 0.664[deg] [grasp_sample.py: 539] +05/12 04:38:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:38:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:38:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:38:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:38:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:38:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:38:17 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:38:17 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=False episode_total=5.47s: + episode_total: mean=15.48s, total=278.57s, count=18, min=194.9ms, max=86474.8ms + sensor_polling: mean=332.1ms, total=123.86s, count=373, min=291.8ms, max=847.5ms + physics_step: mean=20.6ms, total=7.70s, count=373, min=13.1ms, max=32.6ms + task_specific_sample: mean=409.6ms, total=7.37s, count=18, min=192.1ms, max=700.2ms + task_sampling: mean=455.6ms, total=5.47s, count=12, min=314.8ms, max=702.3ms + task_sampling_failed: mean=326.1ms, total=1.96s, count=6, min=194.9ms, max=694.8ms + scene_randomize: mean=1.1ms, total=20.5ms, count=18, min=0.9ms, max=2.5ms + mj_forward_sync: mean=441.4us, total=7.9ms, count=18, min=0.4ms, max=0.7ms + policy_setup: mean=11.0us, total=0.1ms, count=12, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=18, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:38:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:38:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:38:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:38:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:38:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:38:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:38:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136460m [env.py: 870] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:38:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39394544 -0.81129595 -0.13645998] yaw=-49.7deg [env.py: 1019] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:38:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=318.7ms, total=318.7ms [env.py: 1075] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.811, -0.136) [env.py: 1079] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 04:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:38:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:38:20 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 04:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:38:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:38:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:38:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.368s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:38:21 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:38:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:38:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:38:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:38:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:38:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:38:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:38:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172512m [env.py: 870] +05/12 04:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:38:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.6069939 -0.79675553 -0.17251234] yaw=-67.5deg [env.py: 1019] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21698932 -0.95885867 -0.17251234] yaw=-55.6deg [env.py: 1019] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:38:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=347.7ms, total=347.8ms [env.py: 1075] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.797, -0.173) [env.py: 1079] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/12 04:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 04:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:38:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:38:23 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 04:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:38:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:38:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:38:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:38:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:38:28 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.774[m] 97.158[deg] [grasp_sample.py: 539] +05/12 04:38:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:38:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:38:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:38:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:38:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:38:39 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:38:44 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:38:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:38:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:38:58 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:38:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:38:58 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 04:39:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:39:06 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:39:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:39:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 04:39:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:39:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:39:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.47s (batch: 3.86s, save: 9.60s) [pipeline.py: 300] +05/12 04:39:13 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.41s: + episode_total: mean=137.90s, total=137.90s, count=1, min=137904.8ms, max=137904.8ms + sensor_polling: mean=341.9ms, total=92.32s, count=270, min=301.3ms, max=564.2ms + save_trajectories: mean=9.60s, total=9.60s, count=1, min=9603.3ms, max=9603.3ms + physics_step: mean=22.0ms, total=5.93s, count=270, min=15.2ms, max=72.1ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3863.2ms, max=3863.2ms + task_sampling: mean=408.6ms, total=408.6ms, count=1, min=408.6ms, max=408.6ms + task_specific_sample: mean=405.0ms, total=405.0ms, count=1, min=405.0ms, max=405.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:39:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193117m [env.py: 870] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48529994 -0.94789783 -0.19311661] yaw=-66.6deg [env.py: 1019] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26029321 -0.91310314 -0.19311661] yaw=-51.5deg [env.py: 1019] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42942986 -0.82202764 -0.19311661] yaw=-58.7deg [env.py: 1019] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:39:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=291.0ms, total=291.0ms [env.py: 1075] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -0.948, -0.193) [env.py: 1079] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/12 04:39:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:39:14 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 04:39:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 04:39:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:39:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:39:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:39:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.554s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:39:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.649[m] 88.509[deg] [grasp_sample.py: 539] +05/12 04:39:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:39:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:39:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:39:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:39:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:39:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.58s (batch: 3.61s, save: 9.98s) [pipeline.py: 300] +05/12 04:39:20 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=4.76s: + episode_total: mean=35.17s, total=422.00s, count=12, min=201.9ms, max=181880.1ms + sensor_polling: mean=386.0ms, total=257.45s, count=667, min=313.7ms, max=896.1ms + physics_step: mean=22.6ms, total=15.06s, count=667, min=14.8ms, max=61.0ms + save_trajectories: mean=9.98s, total=9.98s, count=1, min=9978.0ms, max=9978.0ms + task_specific_sample: mean=521.5ms, total=6.26s, count=12, min=198.7ms, max=845.4ms + task_sampling: mean=594.7ms, total=4.76s, count=8, min=395.3ms, max=848.4ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3605.3ms, max=3605.3ms + task_sampling_failed: mean=384.3ms, total=1.54s, count=4, min=201.9ms, max=639.0ms + scene_randomize: mean=1.1ms, total=13.5ms, count=12, min=0.9ms, max=2.2ms + mj_forward_sync: mean=414.5us, total=5.0ms, count=12, min=0.4ms, max=0.6ms + policy_setup: mean=12.0us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102810m [env.py: 870] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.7ms, total=209.8ms [env.py: 1105] +05/12 04:39:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:39:22 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:39:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180346m [env.py: 870] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36222608 -1.12661448 -0.18034601] yaw=-49.2deg [env.py: 1019] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:39:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.8ms, total=211.9ms [env.py: 1075] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.127, -0.180) [env.py: 1079] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 04:39:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:39:23 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 04:39:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 04:39:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:39:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:39:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:39:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.729s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:39:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.667[m] 87.306[deg] [grasp_sample.py: 539] +05/12 04:39:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:39:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:39:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:39:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:39:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:39:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:39:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:39:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:39:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.800s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:39:38 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.153[m] 10.029[deg] [grasp_sample.py: 539] +05/12 04:39:39 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193879m [env.py: 870] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.9ms, total=218.9ms [env.py: 1105] +05/12 04:39:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:39:41 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:39:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175348m [env.py: 870] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=269.7ms, total=269.7ms [env.py: 1105] +05/12 04:39:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:39:43 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:39:43 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:39:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137854m [env.py: 870] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.4ms, total=201.5ms [env.py: 1105] +05/12 04:39:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:39:44 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154673m [env.py: 870] +05/12 04:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57354744 -0.84974466 -0.15467296] yaw=-66.6deg [env.py: 1019] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44387699 -0.84368463 -0.15467296] yaw=-67.3deg [env.py: 1019] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:39:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.3ms, total=241.3ms [env.py: 1075] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.850, -0.155) [env.py: 1079] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/12 04:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 04:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:39:46 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 04:39:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 04:39:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:39:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:39:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:39:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:39:48 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.735[m] 80.807[deg] [grasp_sample.py: 539] +05/12 04:39:49 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:39:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:39:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:39:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:39:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:39:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:39:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194030m [env.py: 870] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:39:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24126186 -0.99366607 -0.19403019] yaw=-46.3deg [env.py: 1019] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51524871 -0.89056971 -0.19403019] yaw=-57.1deg [env.py: 1019] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:39:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=368.5ms, total=368.6ms [env.py: 1075] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -0.994, -0.194) [env.py: 1079] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 04:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:39:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:39:51 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 04:39:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 04:39:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:39:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:39:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:39:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.096s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:39:55 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.731[m] 70.339[deg] [grasp_sample.py: 539] +05/12 04:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:39:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:39:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:39:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:40:03 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:40:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:40:03 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 04:40:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:40:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:40:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:40:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.95s (batch: 3.30s, save: 8.64s) [pipeline.py: 300] +05/12 04:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:15 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=1.03s: + episode_total: mean=57.69s, total=173.06s, count=3, min=225.9ms, max=140506.0ms + sensor_polling: mean=364.8ms, total=112.00s, count=307, min=301.3ms, max=754.0ms + save_trajectories: mean=8.64s, total=8.64s, count=1, min=8644.7ms, max=8644.7ms + physics_step: mean=23.6ms, total=7.24s, count=307, min=14.7ms, max=59.4ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3301.5ms, max=3301.5ms + task_specific_sample: mean=415.2ms, total=1.25s, count=3, min=221.0ms, max=546.5ms + task_sampling: mean=515.1ms, total=1.03s, count=2, min=481.0ms, max=549.2ms + task_sampling_failed: mean=225.9ms, total=225.9ms, count=1, min=225.9ms, max=225.9ms + scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=1.0ms, max=1.7ms + mj_forward_sync: mean=479.2us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190518m [env.py: 870] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=306.3ms, total=306.3ms [env.py: 1105] +05/12 04:40:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:40:17 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:40:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195891m [env.py: 870] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=714.6ms, total=714.7ms [env.py: 1105] +05/12 04:40:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:40:19 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135587m [env.py: 870] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57915979 -0.74066674 -0.13558677] yaw=-68.1deg [env.py: 1019] +05/12 04:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=347.8ms, total=347.8ms [env.py: 1075] +05/12 04:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.579, -0.741, -0.136) [env.py: 1079] +05/12 04:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.1 deg [env.py: 1082] +05/12 04:40:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 04:40:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:21 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:40:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:40:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.347s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:40:22 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:40:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.535s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:40:23 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.062[m] 18.163[deg] [grasp_sample.py: 539] +05/12 04:40:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144149m [env.py: 870] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=238.3ms, total=238.3ms [env.py: 1105] +05/12 04:40:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:40:24 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:40:24 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:40:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139327m [env.py: 870] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39116238 -0.85351712 -0.13932702] yaw=-62.5deg [env.py: 1019] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.5ms, total=251.6ms [env.py: 1075] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.854, -0.139) [env.py: 1079] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181568m [env.py: 870] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23578229 -1.03883789 -0.1815684 ] yaw=-33.4deg [env.py: 1019] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:26 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=435.8ms, total=435.8ms [env.py: 1075] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.039, -0.182) [env.py: 1079] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.4 deg [env.py: 1082] +05/12 04:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 04:40:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:26 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:40:27 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:40:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149943m [env.py: 870] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58624913 -0.75390407 -0.14994256] yaw=-66.5deg [env.py: 1019] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.2ms, total=207.2ms [env.py: 1075] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.754, -0.150) [env.py: 1079] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/12 04:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:29 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.781s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:40:29 INFO: [Worker 0] Feasible grasp found 387 (originally 387): w/ 0.762[m] 92.055[deg] [grasp_sample.py: 539] +05/12 04:40:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:30 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:40:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:40:31 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:40:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:40:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111528m [env.py: 870] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29412556 -0.94215709 -0.1115279 ] yaw=-55.6deg [env.py: 1019] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51934001 -0.89312412 -0.1115279 ] yaw=-65.5deg [env.py: 1019] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:40:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52484543 -0.73127934 -0.1115279 ] yaw=-65.9deg [env.py: 1019] +05/12 04:40:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163953m [env.py: 870] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.4ms, total=242.4ms [env.py: 1075] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -0.942, -0.112) [env.py: 1079] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=246.7ms, total=246.8ms [env.py: 1105] +05/12 04:40:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:40:32 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:40:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:32 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144910m [env.py: 870] +05/12 04:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51744861 -0.96175387 -0.14490986] yaw=-69.6deg [env.py: 1019] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.2ms, total=253.2ms [env.py: 1075] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -0.962, -0.145) [env.py: 1079] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg [env.py: 1082] +05/12 04:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 04:40:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.481s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:40:34 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:40:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:34 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131075m [env.py: 870] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.0ms, total=218.0ms [env.py: 1105] +05/12 04:40:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:40:35 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:40:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:40:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.684[m] 75.639[deg] [grasp_sample.py: 539] +05/12 04:40:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:40:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:40:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:40:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:40:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:40:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148902m [env.py: 870] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.8ms, total=203.9ms [env.py: 1105] +05/12 04:40:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:40:37 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:40:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149129m [env.py: 870] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37234362 -1.07475802 -0.14912902] yaw=-56.4deg [env.py: 1019] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms [env.py: 1075] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -1.075, -0.149) [env.py: 1079] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 04:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:39 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:40:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.662[m] 96.662[deg] [grasp_sample.py: 539] +05/12 04:40:41 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:40:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107299m [env.py: 870] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=254.2ms, total=254.3ms [env.py: 1105] +05/12 04:40:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:40:43 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:40:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:40:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:40:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:40:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:40:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:40:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134656m [env.py: 870] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:40:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54035113 -0.92862509 -0.13465608] yaw=-73.2deg [env.py: 1019] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:40:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.2ms, total=222.2ms [env.py: 1075] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.929, -0.135) [env.py: 1079] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg [env.py: 1082] +05/12 04:40:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:40:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:40:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:40:45 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 04:40:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 04:40:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:40:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:40:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:40:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.846s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:40:49 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.761[m] 84.900[deg] [grasp_sample.py: 539] +05/12 04:40:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:40:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:40:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:40:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:40:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:41:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:41:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:41:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:41:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:41:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.101s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:41:12 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.528[m] 50.706[deg] [grasp_sample.py: 539] +05/12 04:41:13 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:41:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:41:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:41:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:41:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176156m [env.py: 870] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:41:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43035489 -0.93615416 -0.17615553] yaw=-63.7deg [env.py: 1019] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28384929 -0.95769671 -0.17615553] yaw=-45.1deg [env.py: 1019] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=540.4ms, total=540.4ms [env.py: 1075] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.936, -0.176) [env.py: 1079] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/12 04:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:41:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:41:15 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 04:41:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 04:41:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:41:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:41:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:41:20 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.737[m] 90.688[deg] [grasp_sample.py: 539] +05/12 04:41:21 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:41:21 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:41:22 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:41:22 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:41:22 INFO: [Worker 0] Worker 0 completed house 1: 10/15 successful episodes [pipeline.py: 1323] +05/12 04:41:22 INFO: [Worker 0] [PROFILE] House 1 complete: 10/15 successful, 15 episodes, total_time=4110.30s + House averages: + episode_total: mean=32.74s, total=2357.23s, count=72, min=180.4ms, max=177788.2ms + sensor_polling: mean=347.9ms, total=1461.37s, count=4201, min=292.2ms, max=777.7ms + physics_step: mean=22.6ms, total=95.11s, count=4201, min=13.1ms, max=79.4ms + save_trajectories: mean=9.29s, total=92.94s, count=10, min=8442.7ms, max=10686.4ms + save_batch_prep: mean=3.42s, total=34.23s, count=10, min=3127.0ms, max=4252.4ms + task_specific_sample: mean=410.5ms, total=29.55s, count=72, min=176.2ms, max=1115.3ms + task_sampling: mean=563.4ms, total=24.22s, count=43, min=363.0ms, max=3879.0ms + task_sampling_failed: mean=292.0ms, total=8.47s, count=29, min=180.3ms, max=761.6ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2891.2ms, max=2891.2ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1566.1ms, max=1566.1ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1183.6ms, max=1183.6ms + compile_mujoco: mean=716.9ms, total=716.9ms, count=1, min=716.9ms, max=716.9ms + compile_xml_load: mean=384.5ms, total=384.5ms, count=1, min=384.5ms, max=384.5ms + scene_init: mean=98.3ms, total=98.3ms, count=1, min=98.3ms, max=98.3ms + scene_randomize: mean=1.3ms, total=92.6ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + mj_forward_sync: mean=446.4us, total=32.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=15.5us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 04:41:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 04:41:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4110.30s + Worker averages: + episode_total: mean=32.74s, total=2357.23s, count=72, min=180.4ms, max=177788.2ms + sensor_polling: mean=347.9ms, total=1461.37s, count=4201, min=292.2ms, max=777.7ms + physics_step: mean=22.6ms, total=95.11s, count=4201, min=13.1ms, max=79.4ms + save_trajectories: mean=9.29s, total=92.94s, count=10, min=8442.7ms, max=10686.4ms + save_batch_prep: mean=3.42s, total=34.23s, count=10, min=3127.0ms, max=4252.4ms + task_specific_sample: mean=410.5ms, total=29.55s, count=72, min=176.2ms, max=1115.3ms + task_sampling: mean=563.4ms, total=24.22s, count=43, min=363.0ms, max=3879.0ms + task_sampling_failed: mean=292.0ms, total=8.47s, count=29, min=180.3ms, max=761.6ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2891.2ms, max=2891.2ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1566.1ms, max=1566.1ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1183.6ms, max=1183.6ms + compile_mujoco: mean=716.9ms, total=716.9ms, count=1, min=716.9ms, max=716.9ms + compile_xml_load: mean=384.5ms, total=384.5ms, count=1, min=384.5ms, max=384.5ms + scene_init: mean=98.3ms, total=98.3ms, count=1, min=98.3ms, max=98.3ms + scene_randomize: mean=1.3ms, total=92.6ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + scene_asset_install: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + mj_forward_sync: mean=446.4us, total=32.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=15.5us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 04:41:24 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 04:41:24 INFO: Success count: 10, Total count: 15 [pipeline.py: 1491] +05/12 04:41:24 INFO: Success rate: 66.67% [pipeline.py: 1492] +05/12 04:41:41 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:41:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:41:41 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 04:41:42 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:41:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:41:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:41:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.29s (batch: 3.56s, save: 8.73s) [pipeline.py: 300] +05/12 04:41:54 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.53s: + episode_total: mean=75.46s, total=150.91s, count=2, min=221.8ms, max=150692.1ms + sensor_polling: mean=390.8ms, total=105.12s, count=269, min=333.0ms, max=854.3ms + save_trajectories: mean=8.73s, total=8.73s, count=1, min=8734.7ms, max=8734.7ms + physics_step: mean=23.6ms, total=6.34s, count=269, min=14.9ms, max=64.7ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3559.0ms, max=3559.0ms + task_specific_sample: mean=371.3ms, total=742.5ms, count=2, min=215.5ms, max=527.0ms + task_sampling: mean=530.2ms, total=530.2ms, count=1, min=530.2ms, max=530.2ms + task_sampling_failed: mean=221.8ms, total=221.8ms, count=1, min=221.8ms, max=221.8ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.6ms, max=2.6ms + mj_forward_sync: mean=384.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:41:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:41:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:41:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:41:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:41:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:41:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:41:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165169m [env.py: 870] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:41:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21198073 -1.10230589 -0.16516932] yaw=-35.2deg [env.py: 1019] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:41:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.6ms, total=241.7ms [env.py: 1075] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.102, -0.165) [env.py: 1079] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg [env.py: 1082] +05/12 04:41:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:41:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:41:55 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 04:41:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 04:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:41:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:41:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:41:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:41:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:41:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:41:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:42:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:42:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:42:02 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 04:42:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.357s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:42:03 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.726[m] 85.353[deg] [grasp_sample.py: 539] +05/12 04:42:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:42:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:42:03 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.198[m] 13.129[deg] [grasp_sample.py: 539] +05/12 04:42:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:42:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:42:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:42:04 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:42:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:42:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:42:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:42:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:42:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:42:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:42:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173668m [env.py: 870] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:42:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41412079 -1.04179965 -0.17366826] yaw=-50.4deg [env.py: 1019] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:42:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.5ms, total=228.5ms [env.py: 1075] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -1.042, -0.174) [env.py: 1079] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 04:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:42:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:42:06 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 04:42:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 04:42:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:42:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:42:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:42:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.408s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:42:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 88.263[deg] [grasp_sample.py: 539] +05/12 04:42:09 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:42:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:42:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:42:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:42:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:42:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:42:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132212m [env.py: 870] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:42:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.5ms, total=198.6ms [env.py: 1105] +05/12 04:42:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:42:10 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:42:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:42:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:42:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:42:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:42:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:42:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:42:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135338m [env.py: 870] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:42:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6457274 -0.96597262 -0.13533809] yaw=-64.0deg [env.py: 1019] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:42:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.5ms [env.py: 1075] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.646, -0.966, -0.135) [env.py: 1079] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 04:42:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:42:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:42:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:42:12 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 04:42:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:42:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:42:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:42:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:42:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.561s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:42:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.663[m] 99.732[deg] [grasp_sample.py: 539] +05/12 04:42:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:42:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:42:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:42:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:42:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:42:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:42:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.62s (batch: 3.38s, save: 9.24s) [pipeline.py: 300] +05/12 04:42:15 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=2.27s: + episode_total: mean=32.58s, total=228.09s, count=7, min=208.9ms, max=145065.4ms + sensor_polling: mean=347.3ms, total=150.71s, count=434, min=296.3ms, max=650.9ms + physics_step: mean=22.6ms, total=9.82s, count=434, min=15.1ms, max=61.0ms + save_trajectories: mean=9.24s, total=9.24s, count=1, min=9240.5ms, max=9240.5ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3375.4ms, max=3375.4ms + task_specific_sample: mean=423.0ms, total=2.96s, count=7, min=206.1ms, max=625.7ms + task_sampling: mean=567.0ms, total=2.27s, count=4, min=512.0ms, max=629.4ms + task_sampling_failed: mean=238.0ms, total=713.9ms, count=3, min=208.9ms, max=278.3ms + scene_randomize: mean=1.2ms, total=8.3ms, count=7, min=1.0ms, max=2.1ms + mj_forward_sync: mean=426.8us, total=3.0ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=11.8us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:42:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:42:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:42:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:42:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:42:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:42:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:42:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:42:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:42:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136752m [env.py: 870] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:42:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:42:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=181.2ms, total=181.2ms [env.py: 1105] +05/12 04:42:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:42:16 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:42:18 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:42:18 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:42:18 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/12 04:42:18 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=4134.41s + House averages: + episode_total: mean=33.49s, total=2411.61s, count=72, min=191.8ms, max=185359.1ms + sensor_polling: mean=354.5ms, total=1410.36s, count=3978, min=291.8ms, max=847.5ms + save_trajectories: mean=9.24s, total=110.88s, count=12, min=8264.0ms, max=10589.7ms + physics_step: mean=23.0ms, total=91.43s, count=3978, min=13.1ms, max=178.9ms + save_batch_prep: mean=3.43s, total=41.16s, count=12, min=3139.9ms, max=3552.4ms + task_specific_sample: mean=410.8ms, total=29.58s, count=72, min=187.2ms, max=803.2ms + task_sampling: mean=540.3ms, total=23.77s, count=44, min=303.0ms, max=3482.3ms + task_sampling_failed: mean=312.5ms, total=8.75s, count=28, min=191.7ms, max=748.4ms + scene_load: mean=2.72s, total=2.72s, count=1, min=2717.6ms, max=2717.6ms + scene_env_create: mean=1.39s, total=1.39s, count=1, min=1385.3ms, max=1385.3ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1155.2ms, max=1155.2ms + compile_mujoco: mean=680.2ms, total=680.2ms, count=1, min=680.2ms, max=680.2ms + compile_xml_load: mean=369.0ms, total=369.0ms, count=1, min=369.0ms, max=369.0ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + scene_randomize: mean=1.3ms, total=97.2ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=87.4ms, total=87.4ms, count=1, min=87.4ms, max=87.4ms + compile_aux_policy_objects: mean=87.4ms, total=87.4ms, count=1, min=87.4ms, max=87.4ms + scene_asset_install: mean=79.3ms, total=79.3ms, count=1, min=79.3ms, max=79.3ms + asset_install_grasps: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms + mj_forward_sync: mean=452.9us, total=32.6ms, count=72, min=0.4ms, max=0.9ms + compile_robot_add: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + asset_install_objects: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=12.9us, total=0.6ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 04:42:18 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 04:42:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4134.41s + Worker averages: + episode_total: mean=33.49s, total=2411.61s, count=72, min=191.8ms, max=185359.1ms + sensor_polling: mean=354.5ms, total=1410.36s, count=3978, min=291.8ms, max=847.5ms + save_trajectories: mean=9.24s, total=110.88s, count=12, min=8264.0ms, max=10589.7ms + physics_step: mean=23.0ms, total=91.43s, count=3978, min=13.1ms, max=178.9ms + save_batch_prep: mean=3.43s, total=41.16s, count=12, min=3139.9ms, max=3552.4ms + task_specific_sample: mean=410.8ms, total=29.58s, count=72, min=187.2ms, max=803.2ms + task_sampling: mean=540.3ms, total=23.77s, count=44, min=303.0ms, max=3482.3ms + task_sampling_failed: mean=312.5ms, total=8.75s, count=28, min=191.7ms, max=748.4ms + scene_load: mean=2.72s, total=2.72s, count=1, min=2717.6ms, max=2717.6ms + scene_env_create: mean=1.39s, total=1.39s, count=1, min=1385.3ms, max=1385.3ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1155.2ms, max=1155.2ms + compile_mujoco: mean=680.2ms, total=680.2ms, count=1, min=680.2ms, max=680.2ms + compile_xml_load: mean=369.0ms, total=369.0ms, count=1, min=369.0ms, max=369.0ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + scene_randomize: mean=1.3ms, total=97.2ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=87.4ms, total=87.4ms, count=1, min=87.4ms, max=87.4ms + compile_aux_policy_objects: mean=87.4ms, total=87.4ms, count=1, min=87.4ms, max=87.4ms + scene_asset_install: mean=79.3ms, total=79.3ms, count=1, min=79.3ms, max=79.3ms + asset_install_grasps: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms + mj_forward_sync: mean=452.9us, total=32.6ms, count=72, min=0.4ms, max=0.9ms + compile_robot_add: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + asset_install_objects: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=12.9us, total=0.6ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 04:42:20 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 04:42:20 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/12 04:42:20 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/12 04:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:42:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:42:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:42:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:42:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:42:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.970s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:42:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.532[m] 73.837[deg] [grasp_sample.py: 539] +05/12 04:42:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:42:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:42:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:42:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:42:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:42:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:42:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:42:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.951s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:42:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.532[m] 73.838[deg] [grasp_sample.py: 539] +05/12 04:42:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:42:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:42:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:43:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:43:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:43:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:43:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:43:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.608s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:43:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.532[m] 73.838[deg] [grasp_sample.py: 539] +05/12 04:43:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:43:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:43:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:43:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:43:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:43:17 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:43:17 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=False episode_total=3.60s: + episode_total: mean=20.93s, total=230.28s, count=11, min=207.9ms, max=80143.0ms + sensor_polling: mean=349.5ms, total=125.82s, count=360, min=297.3ms, max=637.1ms + physics_step: mean=21.3ms, total=7.68s, count=360, min=12.9ms, max=58.8ms + task_specific_sample: mean=407.3ms, total=4.48s, count=11, min=203.3ms, max=679.8ms + task_sampling: mean=514.9ms, total=3.60s, count=7, min=428.1ms, max=682.6ms + task_sampling_failed: mean=226.9ms, total=907.8ms, count=4, min=207.9ms, max=262.4ms + scene_randomize: mean=1.2ms, total=12.9ms, count=11, min=0.9ms, max=1.8ms + mj_forward_sync: mean=411.8us, total=4.5ms, count=11, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:43:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:43:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:43:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:43:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:43:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:43:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:43:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141639m [env.py: 870] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:43:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61153857 -0.89744825 -0.14163932] yaw=-69.1deg [env.py: 1019] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.8ms [env.py: 1075] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.897, -0.142) [env.py: 1079] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 04:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:43:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:43:19 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 04:43:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 04:43:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:43:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:43:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:43:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.235s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:43:30 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.676[m] 89.910[deg] [grasp_sample.py: 539] +05/12 04:43:31 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:43:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:43:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:43:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:43:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:43:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:43:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:43:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165304m [env.py: 870] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:43:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:43:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.0ms, total=194.1ms [env.py: 1105] +05/12 04:43:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:43:33 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:43:34 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:43:34 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:43:34 INFO: [Worker 0] Worker 0 completed house 1: 11/14 successful episodes [pipeline.py: 1323] +05/12 04:43:34 INFO: [Worker 0] [PROFILE] House 1 complete: 11/14 successful, 14 episodes, total_time=4270.89s + House averages: + episode_total: mean=34.58s, total=2489.74s, count=72, min=202.4ms, max=188410.8ms + sensor_polling: mean=349.4ms, total=1477.19s, count=4228, min=291.5ms, max=876.5ms + save_trajectories: mean=9.25s, total=101.77s, count=11, min=8212.5ms, max=10726.7ms + physics_step: mean=22.4ms, total=94.51s, count=4228, min=12.9ms, max=159.6ms + save_batch_prep: mean=3.44s, total=37.88s, count=11, min=3213.1ms, max=3863.2ms + task_specific_sample: mean=408.6ms, total=29.42s, count=72, min=198.8ms, max=846.9ms + task_sampling: mean=535.0ms, total=27.28s, count=51, min=307.4ms, max=3868.9ms + task_sampling_failed: mean=266.1ms, total=5.59s, count=21, min=202.4ms, max=581.0ms + scene_load: mean=3.02s, total=3.02s, count=1, min=3019.4ms, max=3019.4ms + scene_env_create: mean=1.63s, total=1.63s, count=1, min=1627.0ms, max=1627.0ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1245.6ms, max=1245.6ms + compile_mujoco: mean=655.6ms, total=655.6ms, count=1, min=655.6ms, max=655.6ms + compile_xml_load: mean=507.9ms, total=507.9ms, count=1, min=507.9ms, max=507.9ms + scene_init: mean=98.9ms, total=98.9ms, count=1, min=98.9ms, max=98.9ms + scene_randomize: mean=1.3ms, total=94.0ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + mj_forward_sync: mean=435.2us, total=31.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.0us, total=0.7ms, count=51, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 04:43:34 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 04:43:34 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4270.89s + Worker averages: + episode_total: mean=34.58s, total=2489.74s, count=72, min=202.4ms, max=188410.8ms + sensor_polling: mean=349.4ms, total=1477.19s, count=4228, min=291.5ms, max=876.5ms + save_trajectories: mean=9.25s, total=101.77s, count=11, min=8212.5ms, max=10726.7ms + physics_step: mean=22.4ms, total=94.51s, count=4228, min=12.9ms, max=159.6ms + save_batch_prep: mean=3.44s, total=37.88s, count=11, min=3213.1ms, max=3863.2ms + task_specific_sample: mean=408.6ms, total=29.42s, count=72, min=198.8ms, max=846.9ms + task_sampling: mean=535.0ms, total=27.28s, count=51, min=307.4ms, max=3868.9ms + task_sampling_failed: mean=266.1ms, total=5.59s, count=21, min=202.4ms, max=581.0ms + scene_load: mean=3.02s, total=3.02s, count=1, min=3019.4ms, max=3019.4ms + scene_env_create: mean=1.63s, total=1.63s, count=1, min=1627.0ms, max=1627.0ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1245.6ms, max=1245.6ms + compile_mujoco: mean=655.6ms, total=655.6ms, count=1, min=655.6ms, max=655.6ms + compile_xml_load: mean=507.9ms, total=507.9ms, count=1, min=507.9ms, max=507.9ms + scene_init: mean=98.9ms, total=98.9ms, count=1, min=98.9ms, max=98.9ms + scene_randomize: mean=1.3ms, total=94.0ms, count=72, min=0.9ms, max=2.7ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + mj_forward_sync: mean=435.2us, total=31.3ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.0us, total=0.7ms, count=51, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 04:43:36 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 04:43:36 INFO: Success count: 11, Total count: 14 [pipeline.py: 1491] +05/12 04:43:36 INFO: Success rate: 78.57% [pipeline.py: 1492] +05/12 04:43:59 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:44:19 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:44:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:44:19 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 04:44:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:44:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:44:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.07s (batch: 3.33s, save: 8.73s) [pipeline.py: 300] +05/12 04:44:31 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.46s: + episode_total: mean=156.48s, total=156.48s, count=1, min=156476.4ms, max=156476.4ms + sensor_polling: mean=380.2ms, total=107.22s, count=282, min=318.5ms, max=581.7ms + save_trajectories: mean=8.73s, total=8.73s, count=1, min=8734.6ms, max=8734.6ms + physics_step: mean=22.9ms, total=6.47s, count=282, min=14.7ms, max=32.3ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3334.7ms, max=3334.7ms + task_sampling: mean=464.4ms, total=464.4ms, count=1, min=464.4ms, max=464.4ms + task_specific_sample: mean=460.9ms, total=460.9ms, count=1, min=460.9ms, max=460.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=421.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:44:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143406m [env.py: 870] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.3ms, total=217.4ms [env.py: 1105] +05/12 04:44:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:44:33 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:44:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109079m [env.py: 870] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3252001 -1.09117433 -0.10907858] yaw=-44.6deg [env.py: 1019] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39111555 -1.13612144 -0.10907858] yaw=-38.2deg [env.py: 1019] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:44:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.3ms, total=196.4ms [env.py: 1075] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.091, -0.109) [env.py: 1079] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 04:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:44:34 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 04:44:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 04:44:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:44:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:44:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:44:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:44:39 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.739[m] 93.215[deg] [grasp_sample.py: 539] +05/12 04:44:40 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:44:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167009m [env.py: 870] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=335.4ms, total=335.5ms [env.py: 1105] +05/12 04:44:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:44:42 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:44:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198572m [env.py: 870] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2679626 -1.04507505 -0.19857234] yaw=-49.5deg [env.py: 1019] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19447895 -1.0541668 -0.19857234] yaw=-40.3deg [env.py: 1019] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:44:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.0ms, total=200.0ms [env.py: 1075] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -1.045, -0.199) [env.py: 1079] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 04:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:44:43 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 04:44:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 04:44:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:44:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:44:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:44:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.805s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:44:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.715[m] 84.294[deg] [grasp_sample.py: 539] +05/12 04:44:46 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:44:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141303m [env.py: 870] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60909635 -0.75687353 -0.14130281] yaw=-73.2deg [env.py: 1019] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:44:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.4ms [env.py: 1075] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.757, -0.141) [env.py: 1079] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg [env.py: 1082] +05/12 04:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 04:44:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:44:48 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 04:44:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 04:44:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:44:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:44:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:44:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.165s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:44:50 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144507m [env.py: 870] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.5ms, total=188.5ms [env.py: 1105] +05/12 04:44:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:44:51 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138501m [env.py: 870] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45982758 -0.80543201 -0.13850067] yaw=-60.4deg [env.py: 1019] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42838246 -1.10141315 -0.13850067] yaw=-54.0deg [env.py: 1019] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms [env.py: 1075] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.805, -0.139) [env.py: 1079] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 04:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:44:53 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 04:44:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 04:44:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:44:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:44:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:44:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.096s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:44:55 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:44:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:44:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:44:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:44:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:44:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:44:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182708m [env.py: 870] +05/12 04:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:44:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28300791 -1.04992607 -0.18270822] yaw=-44.6deg [env.py: 1019] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21064747 -1.04458982 -0.18270822] yaw=-54.0deg [env.py: 1019] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:44:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.7ms, total=195.7ms [env.py: 1075] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -1.050, -0.183) [env.py: 1079] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 04:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/12 04:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:44:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:44:57 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 04:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 04:44:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:44:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:44:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:45:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.752s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:45:04 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.685[m] 85.156[deg] [grasp_sample.py: 539] +05/12 04:45:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:45:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:45:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:45:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:45:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:45:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:46:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:46:44 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:47:03 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_009 [pipeline.py: 1174] +05/12 04:47:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:47:03 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 04:47:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:47:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_009 [save_utils.py: 785] +05/12 04:47:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.61s (batch: 3.28s, save: 8.32s) [pipeline.py: 300] +05/12 04:47:15 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=2.03s: + episode_total: mean=19.27s, total=154.14s, count=8, min=196.3ms, max=138558.8ms + sensor_polling: mean=341.7ms, total=92.60s, count=271, min=298.1ms, max=513.5ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8321.4ms, max=8321.4ms + physics_step: mean=20.5ms, total=5.55s, count=271, min=14.5ms, max=24.1ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3284.5ms, max=3284.5ms + task_specific_sample: mean=346.6ms, total=2.77s, count=8, min=193.2ms, max=437.6ms + task_sampling: mean=405.5ms, total=2.03s, count=5, min=391.1ms, max=440.0ms + task_sampling_failed: mean=256.6ms, total=769.7ms, count=3, min=196.2ms, max=343.3ms + scene_randomize: mean=1.3ms, total=10.5ms, count=8, min=1.0ms, max=3.3ms + mj_forward_sync: mean=414.7us, total=3.3ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=11.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:47:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:47:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:47:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:47:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:47:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:47:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:47:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113390m [env.py: 870] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:47:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.56315583 -0.83257552 -0.11339043] yaw=-57.7deg [env.py: 1019] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:47:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.6ms [env.py: 1075] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.833, -0.113) [env.py: 1079] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg [env.py: 1082] +05/12 04:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:47:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:47:17 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 04:47:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 04:47:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:47:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:47:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:47:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.781s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:47:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.802[m] 91.874[deg] [grasp_sample.py: 539] +05/12 04:47:21 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:47:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:47:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:47:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:47:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:47:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:47:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:47:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180552m [env.py: 870] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:47:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27698426 -1.04574985 -0.18055209] yaw=-50.8deg [env.py: 1019] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:47:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.6ms [env.py: 1075] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.046, -0.181) [env.py: 1079] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 04:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:47:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:47:22 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 04:47:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 04:47:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:47:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:47:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:47:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.125s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:47:27 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.746[m] 85.161[deg] [grasp_sample.py: 539] +05/12 04:47:29 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:47:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:47:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:47:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:47:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:47:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:47:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:47:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161805m [env.py: 870] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:47:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.8ms, total=186.8ms [env.py: 1105] +05/12 04:47:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:47:30 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:47:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:47:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:47:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:47:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:47:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:47:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:47:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195044m [env.py: 870] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:47:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53808252 -0.75148833 -0.19504441] yaw=-62.7deg [env.py: 1019] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:47:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.1ms [env.py: 1075] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.751, -0.195) [env.py: 1079] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/12 04:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:47:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:47:32 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 04:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 04:47:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:47:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:47:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:47:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.495s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:47:34 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:47:35 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:47:35 WARNING: [Worker 0] No trajectory data to save for chunk_009 [pipeline.py: 234] +05/12 04:47:35 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes [pipeline.py: 1323] +05/12 04:47:35 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=4852.30s + House averages: + episode_total: mean=37.93s, total=2731.10s, count=72, min=176.8ms, max=181880.1ms + sensor_polling: mean=381.4ms, total=1764.28s, count=4626, min=298.1ms, max=896.1ms + save_trajectories: mean=9.48s, total=132.76s, count=14, min=8321.4ms, max=11638.7ms + physics_step: mean=23.0ms, total=106.38s, count=4626, min=14.5ms, max=127.7ms + save_batch_prep: mean=3.50s, total=49.04s, count=14, min=3175.3ms, max=4150.0ms + task_specific_sample: mean=403.4ms, total=29.05s, count=72, min=173.6ms, max=845.4ms + task_sampling: mean=485.9ms, total=21.87s, count=45, min=346.3ms, max=848.4ms + task_sampling_failed: mean=381.5ms, total=10.30s, count=27, min=176.8ms, max=3189.4ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2886.7ms, max=2886.7ms + scene_compile: mean=1.38s, total=1.38s, count=1, min=1377.6ms, max=1377.6ms + scene_env_create: mean=1.37s, total=1.37s, count=1, min=1368.8ms, max=1368.8ms + compile_mujoco: mean=692.7ms, total=692.7ms, count=1, min=692.7ms, max=692.7ms + compile_xml_load: mean=422.9ms, total=422.9ms, count=1, min=422.9ms, max=422.9ms + compile_aux_objects: mean=225.0ms, total=225.0ms, count=1, min=225.0ms, max=225.0ms + compile_aux_policy_objects: mean=225.0ms, total=225.0ms, count=1, min=225.0ms, max=225.0ms + scene_init: mean=97.9ms, total=97.9ms, count=1, min=97.9ms, max=97.9ms + scene_randomize: mean=1.3ms, total=96.7ms, count=72, min=0.9ms, max=3.8ms + scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms + mj_forward_sync: mean=421.0us, total=30.3ms, count=72, min=0.4ms, max=0.9ms + asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + compile_robot_add: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=15.8us, total=0.7ms, count=45, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 04:47:35 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 04:47:35 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4852.30s + Worker averages: + episode_total: mean=37.93s, total=2731.10s, count=72, min=176.8ms, max=181880.1ms + sensor_polling: mean=381.4ms, total=1764.28s, count=4626, min=298.1ms, max=896.1ms + save_trajectories: mean=9.48s, total=132.76s, count=14, min=8321.4ms, max=11638.7ms + physics_step: mean=23.0ms, total=106.38s, count=4626, min=14.5ms, max=127.7ms + save_batch_prep: mean=3.50s, total=49.04s, count=14, min=3175.3ms, max=4150.0ms + task_specific_sample: mean=403.4ms, total=29.05s, count=72, min=173.6ms, max=845.4ms + task_sampling: mean=485.9ms, total=21.87s, count=45, min=346.3ms, max=848.4ms + task_sampling_failed: mean=381.5ms, total=10.30s, count=27, min=176.8ms, max=3189.4ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2886.7ms, max=2886.7ms + scene_compile: mean=1.38s, total=1.38s, count=1, min=1377.6ms, max=1377.6ms + scene_env_create: mean=1.37s, total=1.37s, count=1, min=1368.8ms, max=1368.8ms + compile_mujoco: mean=692.7ms, total=692.7ms, count=1, min=692.7ms, max=692.7ms + compile_xml_load: mean=422.9ms, total=422.9ms, count=1, min=422.9ms, max=422.9ms + compile_aux_objects: mean=225.0ms, total=225.0ms, count=1, min=225.0ms, max=225.0ms + compile_aux_policy_objects: mean=225.0ms, total=225.0ms, count=1, min=225.0ms, max=225.0ms + scene_init: mean=97.9ms, total=97.9ms, count=1, min=97.9ms, max=97.9ms + scene_randomize: mean=1.3ms, total=96.7ms, count=72, min=0.9ms, max=3.8ms + scene_asset_install: mean=42.2ms, total=42.2ms, count=1, min=42.2ms, max=42.2ms + mj_forward_sync: mean=421.0us, total=30.3ms, count=72, min=0.4ms, max=0.9ms + asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + compile_robot_add: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=15.8us, total=0.7ms, count=45, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 04:47:37 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 04:47:37 INFO: Success count: 14, Total count: 15 [pipeline.py: 1491] +05/12 04:47:37 INFO: Success rate: 93.33% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044859.pkl b/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044859.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3328acaf29357e1dfec6ef0662006debf2079414 --- /dev/null +++ b/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044859.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c852ef3e82e7d02f691d5c1ef18ca6ce0ffb18a5f3dd6b99b0b7db88f591555b +size 8146 diff --git a/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044901.pkl b/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044901.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f7a8774f16976dda86b13371e9d7187c517e830a --- /dev/null +++ b/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044901.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96d532f35cbf9827384b91e6acfe2a354d3a67b13d6c7cde08f6c209de33109b +size 8146 diff --git a/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044902.pkl b/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044902.pkl new file mode 100644 index 0000000000000000000000000000000000000000..bbce792db1adf683e0e004d80bfe47f7d01a96de --- /dev/null +++ b/3drawers/sim_chunks/chunk_010/experiment_config_20260512_044902.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45f78ac8b96c8f1cf378bf4161536b616440b3fef7fe8e6ba4bef64c0e2deafd +size 8146 diff --git a/3drawers/sim_chunks/chunk_010/running_log.log b/3drawers/sim_chunks/chunk_010/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..b3a62926dd6af94be30c25c0b93886146db4d61a --- /dev/null +++ b/3drawers/sim_chunks/chunk_010/running_log.log @@ -0,0 +1,14730 @@ +05/12 04:48:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:48:59 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:48:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:48:59 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_010'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41003, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:48:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:48:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:48:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:48:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:48:59 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:48:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:48:59 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_010'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41002, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:48:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:48:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:48:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:49:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:49:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:49:01 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:49:01 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:49:01 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:49:01 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_010'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41004, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:49:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:49:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:49:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:49:02 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:49:02 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 04:49:02 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 04:49:02 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 04:49:02 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_010'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41001, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 04:49:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 04:49:02 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 04:49:02 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 04:49:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:49:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:49:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:49:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:49:02 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:49:02 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:49:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137306m [env.py: 870] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:49:02 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:49:02 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:49:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185104m [env.py: 870] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3627289 -1.07715538 -0.18510438] yaw=-40.9deg [env.py: 1019] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:02 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 04:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54943333 -0.95729829 -0.18510438] yaw=-58.5deg [env.py: 1019] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.2ms, retries=215.6ms, total=231.8ms [env.py: 1075] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -1.077, -0.185) [env.py: 1079] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.9 deg [env.py: 1082] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 04:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.2ms, retries=401.3ms, total=417.5ms [env.py: 1105] +05/12 04:49:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:03 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:03 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:49:04 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148693m [env.py: 870] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:49:04 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:49:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120843m [env.py: 870] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:04 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:49:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=166.8ms, total=166.8ms [env.py: 1105] +05/12 04:49:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:04 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.2ms, retries=206.3ms, total=222.5ms [env.py: 1105] +05/12 04:49:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:04 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:05 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 04:49:05 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 04:49:05 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 04:49:05 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 04:49:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130129m [env.py: 870] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:05 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 04:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109121m [env.py: 870] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14516052 -1.10401245 -0.10912062] yaw=-48.4deg [env.py: 1019] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.6ms, total=219.6ms [env.py: 1075] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.104, -0.109) [env.py: 1079] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160471m [env.py: 870] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:05 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6305991 -0.95230544 -0.16047142] yaw=-59.0deg [env.py: 1019] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.0ms, retries=692.6ms, total=708.6ms [env.py: 1105] +05/12 04:49:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:05 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34557189 -0.97493478 -0.16047142] yaw=-54.0deg [env.py: 1019] +05/12 04:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.52426698 -0.87054138 -0.16047142] yaw=-68.7deg [env.py: 1019] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=436.2ms, total=436.3ms [env.py: 1075] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.631, -0.952, -0.160) [env.py: 1079] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:06 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147807m [env.py: 870] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=345.3ms, total=345.4ms [env.py: 1105] +05/12 04:49:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:07 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188187m [env.py: 870] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15520034 -1.09789754 -0.1881868 ] yaw=-28.4deg [env.py: 1019] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=379.9ms, total=379.9ms [env.py: 1075] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.155, -1.098, -0.188) [env.py: 1079] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.4 deg [env.py: 1082] +05/12 04:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:08 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:31 INFO: [Worker 0] Warmed up parallel IK solver in 28.098s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.802s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:49:34 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.665[m] 83.245[deg] [grasp_sample.py: 539] +05/12 04:49:34 INFO: [Worker 0] Warmed up parallel IK solver in 28.804s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:35 INFO: [Worker 0] Warmed up parallel IK solver in 29.003s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:35 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:49:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.513s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:49:36 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:49:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110624m [env.py: 870] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31779268 -1.228023 -0.11062384] yaw=-32.8deg [env.py: 1019] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43152905 -0.90527838 -0.11062384] yaw=-68.4deg [env.py: 1019] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.4ms, total=167.4ms [env.py: 1075] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.318, -1.228, -0.111) [env.py: 1079] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg [env.py: 1082] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:37 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139624m [env.py: 870] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=181.7ms, total=181.7ms [env.py: 1105] +05/12 04:49:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:37 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:38 INFO: [Worker 0] Warmed up parallel IK solver in 29.978s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183968m [env.py: 870] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=181.8ms, total=181.9ms [env.py: 1105] +05/12 04:49:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:39 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103941m [env.py: 870] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1752049 -0.99499079 -0.10394059] yaw=-50.3deg [env.py: 1019] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39125208 -1.15595912 -0.10394059] yaw=-41.2deg [env.py: 1019] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms [env.py: 1075] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -0.995, -0.104) [env.py: 1079] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 04:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:40 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.756s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:49:41 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.684[m] 91.448[deg] [grasp_sample.py: 539] +05/12 04:49:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:49:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:49:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:49:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.117s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:49:41 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.642[m] 90.093[deg] [grasp_sample.py: 539] +05/12 04:49:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:49:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:49:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:49:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.673s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:49:42 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:49:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155057m [env.py: 870] +05/12 04:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=738.7ms, total=738.8ms [env.py: 1105] +05/12 04:49:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:44 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.253s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:49:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.736[m] 96.121[deg] [grasp_sample.py: 539] +05/12 04:49:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:49:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:49:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193015m [env.py: 870] +05/12 04:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59377242 -0.73169667 -0.19301461] yaw=-59.1deg [env.py: 1019] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.2ms, total=269.2ms [env.py: 1075] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.732, -0.193) [env.py: 1079] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/12 04:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/12 04:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:49:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:46 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.366s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:49:48 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:49:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172656m [env.py: 870] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=170.7ms, total=170.7ms [env.py: 1105] +05/12 04:49:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:49 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153690m [env.py: 870] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14313005 -1.0965638 -0.15368977] yaw=-46.7deg [env.py: 1019] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37579477 -1.14954629 -0.15368977] yaw=-34.6deg [env.py: 1019] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60412395 -0.94696306 -0.15368977] yaw=-77.4deg [env.py: 1019] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.4ms, total=151.5ms [env.py: 1075] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.097, -0.154) [env.py: 1079] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/12 04:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:51 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:49:52 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159329m [env.py: 870] +05/12 04:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=241.7ms, total=241.8ms [env.py: 1105] +05/12 04:49:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:49:54 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:49:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:49:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:49:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:49:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:49:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:49:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154350m [env.py: 870] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:49:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26159139 -1.20955149 -0.15434972] yaw=-46.7deg [env.py: 1019] +05/12 04:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:49:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=777.9ms, total=778.0ms [env.py: 1075] +05/12 04:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.210, -0.154) [env.py: 1079] +05/12 04:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/12 04:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 04:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:49:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:49:56 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 04:49:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:49:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:49:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:49:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:49:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.441s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:49:59 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.681[m] 94.159[deg] [grasp_sample.py: 539] +05/12 04:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:00 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:50:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:50:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:50:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:50:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:50:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:50:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136347m [env.py: 870] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:50:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58510032 -0.92914015 -0.13634656] yaw=-68.3deg [env.py: 1019] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31164805 -1.22465324 -0.13634656] yaw=-39.7deg [env.py: 1019] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:50:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.7ms [env.py: 1075] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.929, -0.136) [env.py: 1079] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 04:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:50:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:50:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:50:02 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 04:50:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 04:50:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:50:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:50:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:50:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:50:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:50:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:50:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:50:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:50:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.406s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:50:11 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.703[m] 90.798[deg] [grasp_sample.py: 539] +05/12 04:50:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:50:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:50:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:50:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.939s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:50:14 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.522[m] 64.088[deg] [grasp_sample.py: 539] +05/12 04:50:15 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:50:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:50:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:50:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:50:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:50:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:50:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:50:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185068m [env.py: 870] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:50:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23544308 -1.14361972 -0.18506796] yaw=-38.4deg [env.py: 1019] +05/12 04:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24867066 -1.16163435 -0.18506796] yaw=-40.1deg [env.py: 1019] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29638035 -0.94354124 -0.18506796] yaw=-44.3deg [env.py: 1019] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:50:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.2ms [env.py: 1075] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.144, -0.185) [env.py: 1079] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.4 deg [env.py: 1082] +05/12 04:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 04:50:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:50:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:50:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:50:17 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 04:50:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:50:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:50:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:50:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:50:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:50:20 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.699[m] 88.766[deg] [grasp_sample.py: 539] +05/12 04:50:21 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:50:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:50:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:50:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:50:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:50:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:50:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:50:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120533m [env.py: 870] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:50:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41969597 -0.91546556 -0.12053284] yaw=-53.3deg [env.py: 1019] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25534044 -1.20721189 -0.12053284] yaw=-30.9deg [env.py: 1019] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:50:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.7ms, total=258.8ms [env.py: 1075] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.915, -0.121) [env.py: 1079] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg [env.py: 1082] +05/12 04:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:50:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:50:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:50:23 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 04:50:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 04:50:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:50:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:50:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:50:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.156s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:50:33 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.779[m] 82.907[deg] [grasp_sample.py: 539] +05/12 04:50:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:50:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:50:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:50:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:50:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:50:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:50:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:50:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:50:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:50:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:50:58 INFO: [Worker 0] Object is not in grasp! 0.00175 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:50:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:50:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:50:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:50:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.553s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:51:01 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 04:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:51:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:51:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:51:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:51:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:51:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:51:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177912m [env.py: 870] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:51:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.8ms, total=203.8ms [env.py: 1105] +05/12 04:51:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:51:02 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:51:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:51:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:51:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:51:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:51:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122034m [env.py: 870] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18041274 -1.06155361 -0.12203437] yaw=-35.5deg [env.py: 1019] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51508001 -0.94117392 -0.12203437] yaw=-50.3deg [env.py: 1019] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.4ms, total=215.4ms [env.py: 1075] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.062, -0.122) [env.py: 1079] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg [env.py: 1082] +05/12 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:51:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:51:04 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 04:51:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:51:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:51:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:51:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.537s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:51:06 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:51:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:51:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:51:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:51:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:51:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:51:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:51:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145842m [env.py: 870] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:51:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.5ms, total=211.5ms [env.py: 1105] +05/12 04:51:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:51:08 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:51:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:51:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:51:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:51:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:51:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:51:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103151m [env.py: 870] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:51:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39607845 -1.12428876 -0.10315145] yaw=-43.4deg [env.py: 1019] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:51:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.1ms, total=212.2ms [env.py: 1075] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -1.124, -0.103) [env.py: 1079] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/12 04:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:51:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:51:09 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 04:51:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:51:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:51:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:51:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:51:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:51:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:51:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.481s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:51:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.684[m] 77.988[deg] [grasp_sample.py: 539] +05/12 04:51:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.520s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:51:11 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.163[m] 16.056[deg] [grasp_sample.py: 539] +05/12 04:51:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:51:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:51:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:51:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:51:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:51:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:51:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:51:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:51:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:51:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:51:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.616s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:51:17 INFO: [Worker 0] Feasible grasp found 663 (originally 663): w/ 0.374[m] 29.704[deg] [grasp_sample.py: 539] +05/12 04:51:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:51:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:51:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:33 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:51:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:51:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:51:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:51:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.916s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:51:42 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.182[m] 15.827[deg] [grasp_sample.py: 539] +05/12 04:51:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:51:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:51:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:51:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:51:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:51:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:50 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:51:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:51:50 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 04:51:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.619s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:51:51 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.245[m] 25.230[deg] [grasp_sample.py: 539] +05/12 04:51:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:51:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:51:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:51:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:51:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:51:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:51:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.630s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:51:59 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.182[m] 15.824[deg] [grasp_sample.py: 539] +05/12 04:51:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:51:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:51:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:52:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:52:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:52:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.35s (batch: 2.83s, save: 8.52s) [pipeline.py: 300] +05/12 04:52:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:02 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.94s: + episode_total: mean=90.90s, total=181.81s, count=2, min=35890.4ms, max=145915.5ms + sensor_polling: mean=375.1ms, total=100.91s, count=269, min=304.1ms, max=614.3ms + save_trajectories: mean=8.52s, total=8.52s, count=1, min=8517.3ms, max=8517.3ms + physics_step: mean=25.0ms, total=6.73s, count=269, min=15.4ms, max=63.9ms + task_sampling: mean=1.97s, total=3.94s, count=2, min=355.5ms, max=3583.5ms + scene_load: mean=3.02s, total=3.02s, count=1, min=3017.1ms, max=3017.1ms + save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2831.8ms, max=2831.8ms + scene_env_create: mean=1.58s, total=1.58s, count=1, min=1577.6ms, max=1577.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.3ms, max=1298.3ms + task_specific_sample: mean=458.7ms, total=917.3ms, count=2, min=353.2ms, max=564.1ms + compile_mujoco: mean=729.5ms, total=729.5ms, count=1, min=729.5ms, max=729.5ms + compile_xml_load: mean=490.6ms, total=490.6ms, count=1, min=490.6ms, max=490.6ms + scene_init: mean=96.4ms, total=96.4ms, count=1, min=96.4ms, max=96.4ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + scene_asset_install: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms + asset_install_grasps: mean=29.9ms, total=29.9ms, count=1, min=29.9ms, max=29.9ms + compile_robot_add: mean=19.7ms, total=19.7ms, count=1, min=19.7ms, max=19.7ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + scene_randomize: mean=1.0ms, total=2.0ms, count=2, min=0.9ms, max=1.2ms + mj_forward_sync: mean=386.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:52:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:52:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:52:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:52:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:52:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187061m [env.py: 870] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:52:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4682417 -0.83279811 -0.18706148] yaw=-62.3deg [env.py: 1019] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09463543 -1.06601766 -0.18706148] yaw=-41.1deg [env.py: 1019] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:52:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.6ms [env.py: 1075] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.833, -0.187) [env.py: 1079] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/12 04:52:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:52:04 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 04:52:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 04:52:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:52:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:52:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.732s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:52:08 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.728[m] 82.358[deg] [grasp_sample.py: 539] +05/12 04:52:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:52:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:52:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:52:09 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:52:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:52:09 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:52:09 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=3.25s: + episode_total: mean=13.50s, total=175.45s, count=13, min=174.2ms, max=128267.1ms + sensor_polling: mean=318.8ms, total=71.74s, count=225, min=294.2ms, max=634.8ms + task_specific_sample: mean=412.8ms, total=5.37s, count=13, min=171.5ms, max=979.8ms + task_sampling_failed: mean=720.5ms, total=5.04s, count=7, min=174.2ms, max=3314.5ms + physics_step: mean=20.5ms, total=4.62s, count=225, min=14.6ms, max=30.1ms + task_sampling: mean=540.9ms, total=3.25s, count=6, min=352.2ms, max=981.9ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2888.6ms, max=2888.6ms + scene_env_create: mean=1.62s, total=1.62s, count=1, min=1615.2ms, max=1615.2ms + scene_compile: mean=1.13s, total=1.13s, count=1, min=1134.8ms, max=1134.8ms + compile_mujoco: mean=668.3ms, total=668.3ms, count=1, min=668.3ms, max=668.3ms + compile_xml_load: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms + scene_init: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms + scene_randomize: mean=1.0ms, total=13.6ms, count=13, min=0.9ms, max=1.3ms + asset_install_objects: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + mj_forward_sync: mean=415.4us, total=5.4ms, count=13, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=24.9us, total=0.1ms, count=6, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:52:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:52:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:52:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:52:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:52:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:52:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:52:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:52:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:52:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:52:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163643m [env.py: 870] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:52:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=401.6ms, total=401.6ms [env.py: 1105] +05/12 04:52:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:52:11 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:52:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:52:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:52:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:52:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:52:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:52:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:52:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:52:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195183m [env.py: 870] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:52:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27961773 -1.18872184 -0.19518342] yaw=-47.5deg [env.py: 1019] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:52:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=410.9ms, total=411.0ms [env.py: 1075] +05/12 04:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.189, -0.195) [env.py: 1079] +05/12 04:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 04:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 04:52:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:52:14 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 04:52:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:52:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:52:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:52:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:52:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.262s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:52:15 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.182[m] 15.824[deg] [grasp_sample.py: 539] +05/12 04:52:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:52:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:52:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:52:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.519s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:52:16 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.644[m] 83.521[deg] [grasp_sample.py: 539] +05/12 04:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:17 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:52:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:52:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:52:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193527m [env.py: 870] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18677469 -1.09162333 -0.19352665] yaw=-29.4deg [env.py: 1019] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:52:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=286.5ms, total=286.6ms [env.py: 1075] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -1.092, -0.194) [env.py: 1079] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.4 deg [env.py: 1082] +05/12 04:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:52:19 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 04:52:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:52:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:52:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:52:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:52:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:52:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 04:52:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 04:52:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=1.51s: + episode_total: mean=50.64s, total=202.54s, count=4, min=2758.5ms, max=124890.1ms + sensor_polling: mean=365.6ms, total=75.31s, count=206, min=311.6ms, max=533.3ms + physics_step: mean=21.1ms, total=4.34s, count=206, min=13.2ms, max=49.8ms + task_sampling_failed: mean=2.76s, total=2.76s, count=1, min=2758.5ms, max=2758.5ms + scene_load: mean=2.53s, total=2.53s, count=1, min=2527.6ms, max=2527.6ms + task_specific_sample: mean=431.9ms, total=1.73s, count=4, min=227.6ms, max=682.9ms + scene_env_create: mean=1.54s, total=1.54s, count=1, min=1536.1ms, max=1536.1ms + task_sampling: mean=502.4ms, total=1.51s, count=3, min=342.7ms, max=685.6ms + scene_compile: mean=819.2ms, total=819.2ms, count=1, min=819.2ms, max=819.2ms + compile_mujoco: mean=543.5ms, total=543.5ms, count=1, min=543.5ms, max=543.5ms + compile_xml_load: mean=210.9ms, total=210.9ms, count=1, min=210.9ms, max=210.9ms + scene_init: mean=128.1ms, total=128.1ms, count=1, min=128.1ms, max=128.1ms + compile_aux_objects: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + compile_aux_policy_objects: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + compile_robot_add: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms + scene_randomize: mean=1.1ms, total=4.2ms, count=4, min=0.9ms, max=1.3ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=442.5us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=16.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:52:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.074s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:52:28 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.737[m] 89.013[deg] [grasp_sample.py: 539] +05/12 04:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:52:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:52:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:52:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:52:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:52:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:52:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157434m [env.py: 870] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:52:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:52:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42286259 -1.11494643 -0.15743439] yaw=-52.8deg [env.py: 1019] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.52168168 -0.93502369 -0.15743439] yaw=-69.7deg [env.py: 1019] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:52:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.6ms, total=267.6ms [env.py: 1075] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -1.115, -0.157) [env.py: 1079] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/12 04:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:52:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:52:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:52:29 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 04:52:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 04:52:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:52:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:52:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:52:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:52:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.604[m] 89.781[deg] [grasp_sample.py: 539] +05/12 04:52:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:52:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:52:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:52:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:53:00 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:53:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:53:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:53:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:53:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:53:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:53:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:53:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.708s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:53:16 INFO: [Worker 0] Feasible grasp found 497 (originally 497): w/ 0.133[m] 9.720[deg] [grasp_sample.py: 539] +05/12 04:53:17 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:53:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114258m [env.py: 870] +05/12 04:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=186.1ms, total=186.2ms [env.py: 1105] +05/12 04:53:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:53:19 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:53:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129015m [env.py: 870] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.490762 -0.78662342 -0.12901519] yaw=-56.7deg [env.py: 1019] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21395484 -1.05525042 -0.12901519] yaw=-43.9deg [env.py: 1019] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:53:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.6ms [env.py: 1075] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.787, -0.129) [env.py: 1079] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 04:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:53:20 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 04:53:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 04:53:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:53:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:53:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:53:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:53:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:53:21 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 04:53:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.376s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:53:22 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:53:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115142m [env.py: 870] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37654638 -0.86032704 -0.11514242] yaw=-59.6deg [env.py: 1019] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41069741 -1.10797889 -0.11514242] yaw=-51.0deg [env.py: 1019] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53318771 -0.84235488 -0.11514242] yaw=-63.7deg [env.py: 1019] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:53:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms [env.py: 1075] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -0.860, -0.115) [env.py: 1079] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg [env.py: 1082] +05/12 04:53:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:53:24 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 04:53:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 04:53:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:53:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:53:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:53:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:53:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:53:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:53:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113306m [env.py: 870] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.7ms, total=201.8ms [env.py: 1105] +05/12 04:53:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:53:27 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:53:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:53:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124415m [env.py: 870] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.8ms, total=199.8ms [env.py: 1105] +05/12 04:53:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:53:28 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175229m [env.py: 870] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47588864 -0.95486693 -0.17522904] yaw=-66.5deg [env.py: 1019] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:53:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.8ms, total=204.8ms [env.py: 1075] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.955, -0.175) [env.py: 1079] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/12 04:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 04:53:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:53:30 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 04:53:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 04:53:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:53:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:53:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:53:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:53:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:53:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.264s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:53:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.703[m] 85.211[deg] [grasp_sample.py: 539] +05/12 04:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:53:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:53:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.01s (batch: 3.13s, save: 9.88s) [pipeline.py: 300] +05/12 04:53:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:53:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:53:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:53:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:53:35 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.47s: + episode_total: mean=37.91s, total=265.34s, count=7, min=211.9ms, max=145866.7ms + sensor_polling: mean=351.7ms, total=165.99s, count=472, min=293.4ms, max=674.4ms + physics_step: mean=23.2ms, total=10.94s, count=472, min=14.7ms, max=33.6ms + save_trajectories: mean=9.88s, total=9.88s, count=1, min=9875.8ms, max=9875.8ms + task_sampling_failed: mean=1.03s, total=4.10s, count=4, min=211.9ms, max=3319.4ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3131.5ms, max=3131.5ms + task_specific_sample: mean=422.1ms, total=2.95s, count=7, min=208.5ms, max=713.3ms + scene_load: mean=2.60s, total=2.60s, count=1, min=2602.9ms, max=2602.9ms + scene_env_create: mean=1.56s, total=1.56s, count=1, min=1563.5ms, max=1563.5ms + task_sampling: mean=490.9ms, total=1.47s, count=3, min=415.8ms, max=626.8ms + scene_compile: mean=899.0ms, total=899.0ms, count=1, min=899.0ms, max=899.0ms + compile_mujoco: mean=610.2ms, total=610.2ms, count=1, min=610.2ms, max=610.2ms + compile_xml_load: mean=206.8ms, total=206.8ms, count=1, min=206.8ms, max=206.8ms + scene_init: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms + compile_aux_objects: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_policy_objects: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + scene_randomize: mean=959.6us, total=6.7ms, count=7, min=0.9ms, max=1.0ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=380.2us, total=2.7ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=17.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:53:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111812m [env.py: 870] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35298606 -1.16839294 -0.11181175] yaw=-45.9deg [env.py: 1019] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:53:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=527.7ms, total=527.8ms [env.py: 1075] +05/12 04:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -1.168, -0.112) [env.py: 1079] +05/12 04:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 04:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 04:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:53:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:53:37 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 04:53:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 04:53:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:53:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:53:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:53:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:53:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.667[m] 87.886[deg] [grasp_sample.py: 539] +05/12 04:53:41 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182786m [env.py: 870] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34492689 -0.96290647 -0.18278587] yaw=-50.0deg [env.py: 1019] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12361133 -1.08694643 -0.18278587] yaw=-41.6deg [env.py: 1019] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6345548 -0.91062996 -0.18278587] yaw=-63.2deg [env.py: 1019] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=296.5ms, total=296.5ms [env.py: 1075] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -0.963, -0.183) [env.py: 1079] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg [env.py: 1082] +05/12 04:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:53:42 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 04:53:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:53:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:53:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:53:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:53:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:53:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.742[m] 91.817[deg] [grasp_sample.py: 539] +05/12 04:53:45 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:53:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147815m [env.py: 870] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=462.7ms, total=462.7ms [env.py: 1105] +05/12 04:53:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:53:47 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:53:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143485m [env.py: 870] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=237.0ms, total=237.0ms [env.py: 1105] +05/12 04:53:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:53:49 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:53:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:53:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:53:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:53:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:53:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:53:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130421m [env.py: 870] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:53:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59842064 -0.97702841 -0.13042076] yaw=-67.1deg [env.py: 1019] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42279217 -0.99633752 -0.13042076] yaw=-59.6deg [env.py: 1019] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:53:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms [env.py: 1075] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.977, -0.130) [env.py: 1079] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg [env.py: 1082] +05/12 04:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:53:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:53:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:53:50 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 04:53:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 04:53:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:53:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:53:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:53:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.008s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:53:52 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.661[m] 88.441[deg] [grasp_sample.py: 539] +05/12 04:53:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:53:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:53:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:53:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:54:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:54:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:54:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:54:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:54:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.920s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:54:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.488[m] 60.769[deg] [grasp_sample.py: 539] +05/12 04:54:18 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:54:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:54:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:54:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:54:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:54:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:54:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117378m [env.py: 870] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:54:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45514794 -0.9952139 -0.11737794] yaw=-67.3deg [env.py: 1019] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:54:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=318.1ms, total=318.1ms [env.py: 1075] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.995, -0.117) [env.py: 1079] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:54:20 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 04:54:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:54:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:54:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:54:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:54:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.416s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:54:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.690[m] 93.251[deg] [grasp_sample.py: 539] +05/12 04:54:23 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:54:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:54:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:54:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101481m [env.py: 870] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47553705 -0.98766285 -0.10148101] yaw=-66.6deg [env.py: 1019] +05/12 04:54:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:54:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:54:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=292.5ms, total=292.5ms [env.py: 1075] +05/12 04:54:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.988, -0.101) [env.py: 1079] +05/12 04:54:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/12 04:54:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 04:54:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:54:25 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 04:54:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 04:54:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:54:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:54:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.359s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:54:26 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.692[m] 90.625[deg] [grasp_sample.py: 539] +05/12 04:54:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:54:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:54:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:54:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:54:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:54:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119039m [env.py: 870] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:54:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.5ms, total=218.6ms [env.py: 1105] +05/12 04:54:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:54:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:54:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:54:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:54:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:54:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:54:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:54:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134742m [env.py: 870] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:54:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5402321 -0.92854878 -0.1347423 ] yaw=-70.4deg [env.py: 1019] +05/12 04:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:54:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=211.9ms, total=212.0ms [env.py: 1075] +05/12 04:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.929, -0.135) [env.py: 1079] +05/12 04:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg [env.py: 1082] +05/12 04:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 04:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:54:31 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 04:54:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:54:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:54:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:54:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:54:31 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:54:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:54:36 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:54:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:54:36 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 04:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.382s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:54:42 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.662[m] 88.882[deg] [grasp_sample.py: 539] +05/12 04:54:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:54:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:54:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:54:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:54:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:54:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 508 non-colliding grasps [grasp_sample.py: 465] +05/12 04:54:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:54:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:54:49 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 04:54:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:54:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:54:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.05s (batch: 3.39s, save: 9.66s) [pipeline.py: 300] +05/12 04:54:49 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.12s: + episode_total: mean=51.79s, total=155.36s, count=3, min=413.3ms, max=150579.9ms + sensor_polling: mean=340.8ms, total=97.47s, count=286, min=300.4ms, max=721.9ms + save_trajectories: mean=9.66s, total=9.66s, count=1, min=9659.2ms, max=9659.2ms + physics_step: mean=22.7ms, total=6.50s, count=286, min=15.0ms, max=124.9ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3390.1ms, max=3390.1ms + task_specific_sample: mean=508.3ms, total=1.52s, count=3, min=406.8ms, max=628.4ms + task_sampling: mean=561.3ms, total=1.12s, count=2, min=491.8ms, max=630.8ms + task_sampling_failed: mean=413.2ms, total=413.2ms, count=1, min=413.2ms, max=413.2ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=1.0ms, max=1.3ms + mj_forward_sync: mean=461.1us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:54:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:54:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:54:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:54:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:54:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:54:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179190m [env.py: 870] +05/12 04:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:54:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36337536 -1.08410024 -0.17918997] yaw=-36.4deg [env.py: 1019] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:54:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.060s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:54:51 INFO: [Worker 0] Feasible grasp found 641 (originally 641): w/ 0.112[m] 8.232[deg] [grasp_sample.py: 539] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:54:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:54:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:54:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=852.2ms, total=852.3ms [env.py: 1075] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -1.084, -0.179) [env.py: 1079] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg [env.py: 1082] +05/12 04:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 04:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:54:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:54:52 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 04:54:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 04:54:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:54:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:54:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:54:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:54:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:54:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:54:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:54:59 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.644[m] 89.420[deg] [grasp_sample.py: 539] +05/12 04:55:00 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:55:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:55:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:55:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.37s (batch: 3.05s, save: 8.32s) [pipeline.py: 300] +05/12 04:55:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.525s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:55:00 INFO: [Worker 0] Feasible grasp found 486 (originally 486): w/ 0.148[m] 14.472[deg] [grasp_sample.py: 539] +05/12 04:55:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s: + episode_total: mean=151.48s, total=151.48s, count=1, min=151482.9ms, max=151482.9ms + sensor_polling: mean=411.5ms, total=106.16s, count=258, min=319.7ms, max=634.0ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.5ms, max=8318.5ms + physics_step: mean=25.4ms, total=6.55s, count=258, min=15.1ms, max=113.0ms + save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3050.4ms, max=3050.4ms + task_sampling: mean=500.7ms, total=500.7ms, count=1, min=500.7ms, max=500.7ms + task_specific_sample: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms + scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=371.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:55:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:55:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:55:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:55:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142711m [env.py: 870] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=437.2ms, total=437.2ms [env.py: 1105] +05/12 04:55:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:55:01 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:55:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191779m [env.py: 870] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55432526 -0.86645582 -0.19177873] yaw=-75.4deg [env.py: 1019] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31954471 -1.13667519 -0.19177873] yaw=-49.2deg [env.py: 1019] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:55:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.4ms, total=194.4ms [env.py: 1075] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.866, -0.192) [env.py: 1079] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.4 deg [env.py: 1082] +05/12 04:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:55:02 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 04:55:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 04:55:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115032m [env.py: 870] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50850074 -0.76854636 -0.11503231] yaw=-63.0deg [env.py: 1019] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:55:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.0ms, total=199.0ms [env.py: 1075] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -0.769, -0.115) [env.py: 1079] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/12 04:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:55:03 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 04:55:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:55:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.343s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:55:05 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122432m [env.py: 870] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28389282 -1.08972979 -0.12243233] yaw=-46.7deg [env.py: 1019] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.3ms, total=214.4ms [env.py: 1075] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -1.090, -0.122) [env.py: 1079] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/12 04:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.269s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:55:07 INFO: [Worker 0] Feasible grasp found 671 (originally 7): w/ 0.685[m] 97.282[deg] [grasp_sample.py: 539] +05/12 04:55:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:55:07 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 04:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:55:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:55:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:08 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:55:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112222m [env.py: 870] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25955592 -1.03517919 -0.11222185] yaw=-39.6deg [env.py: 1019] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:55:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.2ms [env.py: 1075] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.035, -0.112) [env.py: 1079] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg [env.py: 1082] +05/12 04:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:55:09 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 04:55:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:55:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.173s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:55:10 INFO: [Worker 0] Feasible grasp found 120 (originally 120): w/ 0.223[m] 13.917[deg] [grasp_sample.py: 539] +05/12 04:55:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.251s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:55:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.692[m] 92.624[deg] [grasp_sample.py: 539] +05/12 04:55:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:55:11 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:55:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:55:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:55:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:55:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141132m [env.py: 870] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28904708 -0.86298519 -0.14113166] yaw=-60.7deg [env.py: 1019] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25704941 -1.05788445 -0.14113166] yaw=-34.9deg [env.py: 1019] +05/12 04:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:55:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=834.3ms, total=834.3ms [env.py: 1075] +05/12 04:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -0.863, -0.141) [env.py: 1079] +05/12 04:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/12 04:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 04:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:55:14 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 04:55:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:55:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.379s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:55:15 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:55:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123114m [env.py: 870] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59866461 -0.74004315 -0.12311399] yaw=-73.7deg [env.py: 1019] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:55:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=288.9ms, total=288.9ms [env.py: 1075] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.740, -0.123) [env.py: 1079] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg [env.py: 1082] +05/12 04:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:55:17 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 04:55:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 04:55:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.322s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:55:19 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:55:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:55:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:55:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:55:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:55:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:55:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151050m [env.py: 870] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:55:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34715808 -0.98553381 -0.15105048] yaw=-58.1deg [env.py: 1019] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09049505 -1.05441192 -0.15105048] yaw=-28.5deg [env.py: 1019] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45502323 -1.04064583 -0.15105048] yaw=-63.2deg [env.py: 1019] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:55:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.2ms, total=243.2ms [env.py: 1075] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -0.986, -0.151) [env.py: 1079] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 04:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:55:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:55:20 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 04:55:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:55:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:55:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.309s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:55:21 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.735[m] 87.946[deg] [grasp_sample.py: 539] +05/12 04:55:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:55:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:55:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:55:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:55:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.058s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:55:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.736[m] 79.045[deg] [grasp_sample.py: 539] +05/12 04:55:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:55:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:55:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:55:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:55:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:55:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:55:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:55:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:55:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:55:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 398 non-colliding grasps [grasp_sample.py: 465] +05/12 04:56:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:56:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.977s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:56:06 INFO: [Worker 0] Feasible grasp found 473 (originally 473): w/ 0.061[m] 23.215[deg] [grasp_sample.py: 539] +05/12 04:56:07 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:56:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:56:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:56:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:56:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:56:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:56:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:56:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:56:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193339m [env.py: 870] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:56:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32213637 -0.93611292 -0.19333919] yaw=-61.4deg [env.py: 1019] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26525809 -1.0065664 -0.19333919] yaw=-44.7deg [env.py: 1019] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43295311 -0.92182221 -0.19333919] yaw=-66.9deg [env.py: 1019] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:56:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=489.5ms, total=489.5ms [env.py: 1075] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -0.936, -0.193) [env.py: 1079] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/12 04:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:56:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:56:10 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 04:56:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 04:56:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:56:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:56:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:56:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:56:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.742[m] 85.431[deg] [grasp_sample.py: 539] +05/12 04:56:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:56:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:56:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:56:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:56:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:56:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:56:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:56:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:56:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:56:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:56:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:56:51 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:57:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:57:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:57:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:57:10 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 04:57:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:57:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:57:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 04:57:22 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 04:57:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:57:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:57:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.67s (batch: 3.24s, save: 9.43s) [pipeline.py: 300] +05/12 04:57:23 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=1.93s: + episode_total: mean=37.17s, total=148.68s, count=4, min=452.7ms, max=136983.3ms + sensor_polling: mean=323.6ms, total=89.96s, count=278, min=300.3ms, max=561.6ms + save_trajectories: mean=9.43s, total=9.43s, count=1, min=9427.4ms, max=9427.4ms + physics_step: mean=21.6ms, total=6.00s, count=278, min=15.0ms, max=51.9ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3240.0ms, max=3240.0ms + task_specific_sample: mean=590.1ms, total=2.36s, count=4, min=413.1ms, max=1089.1ms + task_sampling: mean=642.0ms, total=1.93s, count=3, min=415.2ms, max=1092.6ms + task_sampling_failed: mean=452.6ms, total=452.6ms, count=1, min=452.6ms, max=452.6ms + scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=1.0ms, max=2.3ms + mj_forward_sync: mean=459.5us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=14.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:57:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:57:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:57:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:57:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:57:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:57:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:57:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191283m [env.py: 870] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:57:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29880693 -0.84650601 -0.19128291] yaw=-49.4deg [env.py: 1019] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54284487 -0.9155024 -0.19128291] yaw=-70.1deg [env.py: 1019] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:57:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.7ms, total=192.8ms [env.py: 1075] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.847, -0.191) [env.py: 1079] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/12 04:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 04:57:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:57:25 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 04:57:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 04:57:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:57:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:57:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:57:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.836s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:57:27 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:57:27 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:57:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:57:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:57:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:57:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185014m [env.py: 870] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26383679 -1.16233486 -0.18501426] yaw=-30.0deg [env.py: 1019] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23913218 -1.19755635 -0.18501426] yaw=-34.7deg [env.py: 1019] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39596442 -0.9286799 -0.18501426] yaw=-58.3deg [env.py: 1019] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.4ms, total=174.5ms [env.py: 1075] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.162, -0.185) [env.py: 1079] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.0 deg [env.py: 1082] +05/12 04:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:57:28 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 04:57:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 04:57:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:57:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:57:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:57:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:57:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.644[m] 79.527[deg] [grasp_sample.py: 539] +05/12 04:57:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:57:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:57:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:57:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:57:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:57:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.82s (batch: 3.45s, save: 9.37s) [pipeline.py: 300] +05/12 04:57:36 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=3.73s: + episode_total: mean=32.04s, total=320.37s, count=10, min=195.4ms, max=136092.6ms + sensor_polling: mean=337.1ms, total=197.89s, count=587, min=293.7ms, max=539.9ms + physics_step: mean=22.3ms, total=13.08s, count=587, min=14.8ms, max=67.2ms + save_trajectories: mean=9.37s, total=9.37s, count=1, min=9369.7ms, max=9369.7ms + task_specific_sample: mean=431.7ms, total=4.32s, count=10, min=191.3ms, max=1060.7ms + task_sampling: mean=533.3ms, total=3.73s, count=7, min=403.8ms, max=1063.6ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms + task_sampling_failed: mean=204.2ms, total=612.7ms, count=3, min=195.4ms, max=209.3ms + scene_randomize: mean=1.2ms, total=12.3ms, count=10, min=0.9ms, max=2.5ms + mj_forward_sync: mean=439.6us, total=4.4ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=16.4us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:57:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:57:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:57:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:57:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:57:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:57:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111978m [env.py: 870] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:57:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22006282 -1.18551109 -0.11197815] yaw=-37.8deg [env.py: 1019] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:57:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.7ms, total=211.8ms [env.py: 1075] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.186, -0.112) [env.py: 1079] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 04:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:57:38 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 04:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 04:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:57:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:57:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:57:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.945s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:57:41 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.744[m] 73.439[deg] [grasp_sample.py: 539] +05/12 04:57:42 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:57:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:57:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:57:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:57:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:57:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:57:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:57:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172141m [env.py: 870] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:57:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=238.9ms, total=238.9ms [env.py: 1105] +05/12 04:57:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:57:44 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:57:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:57:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:57:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:57:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:57:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:57:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122009m [env.py: 870] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:57:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39860187 -0.81273386 -0.12200898] yaw=-64.6deg [env.py: 1019] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53991411 -0.73442543 -0.12200898] yaw=-68.6deg [env.py: 1019] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:57:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.6ms [env.py: 1075] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -0.813, -0.122) [env.py: 1079] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 04:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:57:45 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 04:57:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 04:57:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:57:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:57:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:57:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:57:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 04:57:46 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 04:57:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: False [grasp_sample.py: 500] +05/12 04:57:47 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 04:57:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:57:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:57:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:57:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:57:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:57:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134838m [env.py: 870] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:57:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30597518 -0.93571513 -0.13483823] yaw=-52.5deg [env.py: 1019] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46449713 -1.08524045 -0.13483823] yaw=-53.3deg [env.py: 1019] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:57:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=200.7ms, total=200.7ms [env.py: 1075] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -0.936, -0.135) [env.py: 1079] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/12 04:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:57:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:57:49 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 04:57:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:57:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:57:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:57:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:57:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.996s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:57:51 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.760[m] 78.310[deg] [grasp_sample.py: 539] +05/12 04:57:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:57:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:57:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:58:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:58:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:58:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.39s (batch: 3.60s, save: 9.78s) [pipeline.py: 300] +05/12 04:58:00 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.74s: + episode_total: mean=88.61s, total=177.23s, count=2, min=6069.0ms, max=171157.8ms + sensor_polling: mean=412.9ms, total=116.44s, count=282, min=326.1ms, max=698.9ms + save_trajectories: mean=9.78s, total=9.78s, count=1, min=9784.9ms, max=9784.9ms + physics_step: mean=24.9ms, total=7.03s, count=282, min=20.1ms, max=60.4ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3604.1ms, max=3604.1ms + task_sampling: mean=371.1ms, total=742.3ms, count=2, min=351.2ms, max=391.0ms + task_specific_sample: mean=368.3ms, total=736.6ms, count=2, min=348.9ms, max=387.6ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=0.9ms, max=2.3ms + mj_forward_sync: mean=369.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:58:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:58:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:58:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:58:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:58:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:58:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188877m [env.py: 870] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:58:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35777123 -1.11653695 -0.18887664] yaw=-45.4deg [env.py: 1019] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47835483 -0.92759319 -0.18887664] yaw=-52.6deg [env.py: 1019] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:58:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=286.9ms, total=286.9ms [env.py: 1075] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -1.117, -0.189) [env.py: 1079] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 04:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:58:02 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 04:58:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 04:58:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:58:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:58:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:58:04 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:58:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.443s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:58:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.620[m] 84.801[deg] [grasp_sample.py: 539] +05/12 04:58:05 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:58:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:58:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:58:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:58:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:58:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:58:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175496m [env.py: 870] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:58:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63408891 -0.84391301 -0.17549576] yaw=-69.4deg [env.py: 1019] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms [env.py: 1075] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.844, -0.175) [env.py: 1079] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg [env.py: 1082] +05/12 04:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:58:07 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 04:58:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 04:58:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:58:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:58:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:58:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:58:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.692[m] 86.924[deg] [grasp_sample.py: 539] +05/12 04:58:09 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:58:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:58:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:58:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:58:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:58:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:58:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166936m [env.py: 870] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:58:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47341707 -1.06001592 -0.16693612] yaw=-56.8deg [env.py: 1019] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51374371 -0.81495649 -0.16693612] yaw=-58.2deg [env.py: 1019] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42619927 -0.89893605 -0.16693612] yaw=-62.4deg [env.py: 1019] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:58:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.2ms, total=105.3ms [env.py: 1075] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -1.060, -0.167) [env.py: 1079] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg [env.py: 1082] +05/12 04:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:58:11 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 04:58:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 04:58:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:58:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:58:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:58:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.324s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:58:12 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.629[m] 85.135[deg] [grasp_sample.py: 539] +05/12 04:58:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:58:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:58:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:58:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:58:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:58:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:58:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 04:58:24 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 04:58:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:58:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:58:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:58:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.68s (batch: 3.07s, save: 8.61s) [pipeline.py: 300] +05/12 04:58:36 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=4.05s: + episode_total: mean=28.81s, total=288.14s, count=10, min=226.0ms, max=147035.6ms + sensor_polling: mean=344.7ms, total=162.00s, count=470, min=297.0ms, max=987.9ms + physics_step: mean=22.1ms, total=10.36s, count=470, min=15.2ms, max=38.8ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8611.1ms, max=8611.1ms + task_specific_sample: mean=496.2ms, total=4.96s, count=10, min=223.2ms, max=799.6ms + task_sampling: mean=578.2ms, total=4.05s, count=7, min=416.5ms, max=803.9ms + save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3068.7ms, max=3068.7ms + task_sampling_failed: mean=314.3ms, total=943.0ms, count=3, min=226.0ms, max=470.3ms + scene_randomize: mean=1.2ms, total=12.5ms, count=10, min=0.9ms, max=2.8ms + mj_forward_sync: mean=442.3us, total=4.4ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=17.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:58:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:58:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:58:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192455m [env.py: 870] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31829788 -1.23637414 -0.19245528] yaw=-46.3deg [env.py: 1019] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=189.0ms [env.py: 1075] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.318, -1.236, -0.192) [env.py: 1079] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 04:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:58:37 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 04:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 04:58:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:58:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:58:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:58:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.185s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:58:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.575[m] 77.991[deg] [grasp_sample.py: 539] +05/12 04:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:58:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:58:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:58:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 04:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 04:58:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 04:58:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:58:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:58:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:58:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:58:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:58:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.444[m] 54.426[deg] [grasp_sample.py: 539] +05/12 04:58:45 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 04:58:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:58:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:58:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:58:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:58:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:58:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:58:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161158m [env.py: 870] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:58:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36598515 -1.18180897 -0.16115822] yaw=-39.2deg [env.py: 1019] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=697.1ms, total=697.2ms [env.py: 1075] +05/12 04:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.182, -0.161) [env.py: 1079] +05/12 04:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg [env.py: 1082] +05/12 04:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 04:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:58:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:58:48 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 04:58:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 04:58:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:58:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:58:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:58:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.550s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:58:50 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.635[m] 83.083[deg] [grasp_sample.py: 539] +05/12 04:58:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:58:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:58:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:58:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:59:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:59:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:59:16 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:59:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:59:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:59:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 04:59:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 04:59:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 04:59:37 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 04:59:43 INFO: [Worker 0] Object is not in grasp! 0.00107 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 04:59:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 04:59:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:59:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:59:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 356 non-colliding grasps [grasp_sample.py: 465] +05/12 04:59:43 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 04:59:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.526s, found feasible grasp: True [grasp_sample.py: 500] +05/12 04:59:43 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.132[m] 3.937[deg] [grasp_sample.py: 539] +05/12 04:59:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 04:59:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 04:59:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:59:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:59:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 04:59:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 04:59:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.09s (batch: 3.31s, save: 8.79s) [pipeline.py: 300] +05/12 04:59:49 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.77s: + episode_total: mean=71.84s, total=143.67s, count=2, min=2456.2ms, max=141218.7ms + sensor_polling: mean=366.7ms, total=96.81s, count=264, min=306.6ms, max=629.3ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8785.5ms, max=8785.5ms + physics_step: mean=24.1ms, total=6.35s, count=264, min=14.9ms, max=63.3ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3307.1ms, max=3307.1ms + task_sampling: mean=386.7ms, total=773.3ms, count=2, min=363.0ms, max=410.4ms + task_specific_sample: mean=384.1ms, total=768.1ms, count=2, min=360.6ms, max=407.5ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.9ms, max=1.7ms + mj_forward_sync: mean=393.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 04:59:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:59:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:59:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:59:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:59:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:59:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:59:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:59:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:59:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166899m [env.py: 870] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:59:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.4ms, total=224.4ms [env.py: 1105] +05/12 04:59:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:59:51 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:59:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:59:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:59:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:59:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:59:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:59:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:59:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:59:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:59:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188827m [env.py: 870] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:59:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=208.2ms, total=208.2ms [env.py: 1105] +05/12 04:59:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 04:59:53 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 04:59:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 04:59:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 04:59:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 04:59:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:59:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 04:59:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 04:59:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 04:59:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172557m [env.py: 870] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 04:59:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41196805 -0.89542364 -0.17255658] yaw=-60.0deg [env.py: 1019] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 04:59:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.7ms, total=213.7ms [env.py: 1075] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -0.895, -0.173) [env.py: 1079] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 04:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 04:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 04:59:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 04:59:54 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 04:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 04:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 04:59:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 04:59:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 04:59:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 04:59:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:00:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:00:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:00:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:00:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:00:05 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 05:00:10 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:00:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:00:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 405 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.303s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:10 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.051[m] 1.692[deg] [grasp_sample.py: 539] +05/12 05:00:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:00:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:00:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:00:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:00:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.292s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:13 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.711[m] 84.667[deg] [grasp_sample.py: 539] +05/12 05:00:14 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137911m [env.py: 870] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29795099 -0.97523647 -0.13791063] yaw=-51.2deg [env.py: 1019] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51090624 -0.97585021 -0.13791063] yaw=-67.1deg [env.py: 1019] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.6ms, total=269.6ms [env.py: 1075] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.975, -0.138) [env.py: 1079] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 05:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:16 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:00:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:00:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.55s (batch: 3.38s, save: 9.16s) [pipeline.py: 300] +05/12 05:00:18 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.31s: + episode_total: mean=39.15s, total=156.58s, count=4, min=253.6ms, max=149566.2ms + sensor_polling: mean=355.5ms, total=101.66s, count=286, min=301.4ms, max=699.7ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9161.8ms, max=9161.8ms + physics_step: mean=23.8ms, total=6.82s, count=286, min=19.7ms, max=58.6ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3384.2ms, max=3384.2ms + task_specific_sample: mean=385.8ms, total=1.54s, count=4, min=246.0ms, max=461.2ms + task_sampling: mean=435.5ms, total=1.31s, count=3, min=416.3ms, max=465.4ms + task_sampling_failed: mean=253.5ms, total=253.5ms, count=1, min=253.5ms, max=253.5ms + scene_randomize: mean=1.6ms, total=6.3ms, count=4, min=1.0ms, max=2.7ms + mj_forward_sync: mean=495.6us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:00:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104855m [env.py: 870] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.1ms, total=205.2ms [env.py: 1105] +05/12 05:00:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:00:20 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:00:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116755m [env.py: 870] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50008815 -0.94447387 -0.11675537] yaw=-66.5deg [env.py: 1019] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.1ms, total=166.1ms [env.py: 1075] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -0.944, -0.117) [env.py: 1079] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/12 05:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.160s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:21 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.793[m] 85.273[deg] [grasp_sample.py: 539] +05/12 05:00:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:21 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:22 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:00:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173106m [env.py: 870] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46329174 -0.96163372 -0.17310636] yaw=-60.5deg [env.py: 1019] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45465836 -1.01788437 -0.17310636] yaw=-56.3deg [env.py: 1019] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23773435 -1.01762023 -0.17310636] yaw=-38.3deg [env.py: 1019] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.5ms [env.py: 1075] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -0.962, -0.173) [env.py: 1079] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.5 deg [env.py: 1082] +05/12 05:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:24 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.498s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:26 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.671[m] 93.935[deg] [grasp_sample.py: 539] +05/12 05:00:27 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199980m [env.py: 870] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.2ms, total=200.3ms [env.py: 1105] +05/12 05:00:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:00:28 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:00:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162313m [env.py: 870] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.8ms, total=202.9ms [env.py: 1105] +05/12 05:00:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:00:30 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:00:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197818m [env.py: 870] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20809813 -1.00486848 -0.19781789] yaw=-33.9deg [env.py: 1019] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=207.2ms, total=207.3ms [env.py: 1075] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.005, -0.198) [env.py: 1079] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.9 deg [env.py: 1082] +05/12 05:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m [env.py: 1086] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:31 INFO: [Worker 0] Object is not in grasp! 0.00116 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:00:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:00:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:31 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 390 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.410s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:32 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.663[deg] [grasp_sample.py: 539] +05/12 05:00:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:00:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:32 INFO: [Worker 0] Feasible grasp found 372 (originally 372): w/ 0.771[m] 93.086[deg] [grasp_sample.py: 539] +05/12 05:00:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:00:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:00:33 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:34 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:00:34 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.46s: + episode_total: mean=117.43s, total=117.43s, count=1, min=117427.1ms, max=117427.1ms + sensor_polling: mean=342.6ms, total=102.77s, count=300, min=298.8ms, max=633.0ms + physics_step: mean=23.1ms, total=6.94s, count=300, min=18.3ms, max=83.7ms + task_sampling: mean=464.7ms, total=464.7ms, count=1, min=464.7ms, max=464.7ms + task_specific_sample: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=367.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:00:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164647m [env.py: 870] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64109871 -0.8303773 -0.16464669] yaw=-68.2deg [env.py: 1019] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39885997 -1.03586171 -0.16464669] yaw=-51.0deg [env.py: 1019] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=288.0ms, total=288.0ms [env.py: 1075] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.830, -0.165) [env.py: 1079] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg [env.py: 1082] +05/12 05:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:35 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199971m [env.py: 870] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63688987 -0.90463114 -0.19997128] yaw=-66.7deg [env.py: 1019] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15234282 -1.03082768 -0.19997128] yaw=-31.8deg [env.py: 1019] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36500304 -1.14616651 -0.19997128] yaw=-50.1deg [env.py: 1019] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.3ms, total=191.3ms [env.py: 1075] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.637, -0.905, -0.200) [env.py: 1079] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/12 05:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:36 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.533s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:38 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:00:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163701m [env.py: 870] +05/12 05:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52109343 -0.72400545 -0.16370067] yaw=-68.0deg [env.py: 1019] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.9ms, total=202.0ms [env.py: 1075] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.724, -0.164) [env.py: 1079] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 05:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 05:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:40 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.079s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:40 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.734[m] 80.046[deg] [grasp_sample.py: 539] +05/12 05:00:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.402s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:00:41 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:00:41 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 05:00:42 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:42 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 05:00:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.241s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:42 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.674[m] 84.604[deg] [grasp_sample.py: 539] +05/12 05:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104086m [env.py: 870] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=243.4ms, total=243.5ms [env.py: 1105] +05/12 05:00:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:00:43 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:00:43 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172688m [env.py: 870] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38976186 -1.10786986 -0.17268765] yaw=-53.1deg [env.py: 1019] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=561.8ms, total=561.8ms [env.py: 1075] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -1.108, -0.173) [env.py: 1079] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 05:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:44 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:00:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168386m [env.py: 870] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47930938 -0.82569637 -0.16838595] yaw=-57.3deg [env.py: 1019] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.8ms, total=209.9ms [env.py: 1075] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -0.826, -0.168) [env.py: 1079] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121384m [env.py: 870] +05/12 05:00:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51430817 -0.96567013 -0.12138417] yaw=-65.9deg [env.py: 1019] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:45 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=235.2ms, total=235.2ms [env.py: 1075] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.966, -0.121) [env.py: 1079] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 05:00:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/12 05:00:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:45 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.625s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.663[m] 75.902[deg] [grasp_sample.py: 539] +05/12 05:00:47 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101271m [env.py: 870] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.6ms, total=190.6ms [env.py: 1105] +05/12 05:00:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:00:48 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:00:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.897s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:49 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.730[m] 92.840[deg] [grasp_sample.py: 539] +05/12 05:00:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:00:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:00:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:00:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126186m [env.py: 870] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14452997 -1.02354843 -0.12618637] yaw=-39.9deg [env.py: 1019] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28542842 -0.93745338 -0.12618637] yaw=-57.5deg [env.py: 1019] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38764489 -1.04487401 -0.12618637] yaw=-48.2deg [env.py: 1019] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms [env.py: 1075] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.024, -0.126) [env.py: 1079] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/12 05:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:50 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.374s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:00:51 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:00:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111351m [env.py: 870] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36338492 -1.0303191 -0.11135119] yaw=-52.5deg [env.py: 1019] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=559.9ms, total=560.0ms [env.py: 1075] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -1.030, -0.111) [env.py: 1079] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/12 05:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:54 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:00:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.338s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:00:56 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.752[m] 81.374[deg] [grasp_sample.py: 539] +05/12 05:00:57 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:00:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:00:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:00:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:00:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111157m [env.py: 870] +05/12 05:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:00:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52089286 -0.73285745 -0.11115662] yaw=-60.2deg [env.py: 1019] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18022263 -1.08660809 -0.11115662] yaw=-41.3deg [env.py: 1019] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.7ms [env.py: 1075] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.733, -0.111) [env.py: 1079] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/12 05:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 05:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:00:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:00:59 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 05:00:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:00:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.439s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:01:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.680[m] 86.463[deg] [grasp_sample.py: 539] +05/12 05:01:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.323s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:01:00 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:01:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:01:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:01:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:01:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110636m [env.py: 870] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42005431 -0.92570475 -0.11063564] yaw=-51.1deg [env.py: 1019] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.49414193 -1.06361622 -0.11063564] yaw=-59.7deg [env.py: 1019] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:01:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.1ms, total=195.1ms [env.py: 1075] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.926, -0.111) [env.py: 1079] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 05:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:01:02 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 05:01:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:01:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:01:04 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 05:01:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.260s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:01:12 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.759[m] 91.503[deg] [grasp_sample.py: 539] +05/12 05:01:13 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:01:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145690m [env.py: 870] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25678849 -1.10552121 -0.14569007] yaw=-39.0deg [env.py: 1019] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61075112 -0.96318573 -0.14569007] yaw=-76.4deg [env.py: 1019] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48950265 -0.84956463 -0.14569007] yaw=-64.2deg [env.py: 1019] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:01:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=366.4ms, total=366.5ms [env.py: 1075] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -1.106, -0.146) [env.py: 1079] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg [env.py: 1082] +05/12 05:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:01:14 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 05:01:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:01:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:01:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:01:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.94s (batch: 3.22s, save: 8.72s) [pipeline.py: 300] +05/12 05:01:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.823s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:01:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.740[m] 92.508[deg] [grasp_sample.py: 539] +05/12 05:01:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.09s: + episode_total: mean=47.66s, total=190.62s, count=4, min=3011.3ms, max=149477.6ms + sensor_polling: mean=390.6ms, total=123.82s, count=317, min=321.8ms, max=674.2ms + save_trajectories: mean=8.72s, total=8.72s, count=1, min=8721.0ms, max=8721.0ms + physics_step: mean=23.5ms, total=7.44s, count=317, min=20.0ms, max=44.5ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3222.1ms, max=3222.1ms + task_sampling: mean=521.4ms, total=2.09s, count=4, min=288.7ms, max=932.3ms + task_specific_sample: mean=518.4ms, total=2.07s, count=4, min=286.4ms, max=929.6ms + scene_randomize: mean=1.6ms, total=6.3ms, count=4, min=1.0ms, max=2.8ms + mj_forward_sync: mean=504.4us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=15.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:01:17 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:01:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171812m [env.py: 870] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55894913 -0.75530339 -0.1718122 ] yaw=-74.7deg [env.py: 1019] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38827604 -1.1228565 -0.1718122 ] yaw=-48.0deg [env.py: 1019] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:01:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.1ms, total=219.2ms [env.py: 1075] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.755, -0.172) [env.py: 1079] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.7 deg [env.py: 1082] +05/12 05:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:01:18 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 05:01:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 05:01:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131303m [env.py: 870] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34334078 -1.07041263 -0.13130315] yaw=-57.5deg [env.py: 1019] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3451391 -1.15060748 -0.13130315] yaw=-53.3deg [env.py: 1019] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:01:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.3ms, total=215.3ms [env.py: 1075] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -1.070, -0.131) [env.py: 1079] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/12 05:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:01:19 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 05:01:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 05:01:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.416s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:01:20 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:01:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177632m [env.py: 870] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.5ms, total=193.6ms [env.py: 1105] +05/12 05:01:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:01:21 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:01:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188596m [env.py: 870] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32098705 -0.8348388 -0.18859589] yaw=-47.1deg [env.py: 1019] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:01:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms [env.py: 1075] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -0.835, -0.189) [env.py: 1079] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/12 05:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:01:23 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 05:01:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:01:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.193s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:01:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.742[m] 76.089[deg] [grasp_sample.py: 539] +05/12 05:01:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:01:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:01:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:01:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:01:25 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:01:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:01:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187075m [env.py: 870] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=811.6ms, total=811.6ms [env.py: 1105] +05/12 05:01:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:01:27 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:01:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:01:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:01:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:01:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:01:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:01:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195275m [env.py: 870] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:01:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52856947 -0.93116354 -0.19527458] yaw=-71.0deg [env.py: 1019] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48166162 -0.95925931 -0.19527458] yaw=-51.1deg [env.py: 1019] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:01:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=503.8ms, total=503.8ms [env.py: 1075] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.931, -0.195) [env.py: 1079] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.0 deg [env.py: 1082] +05/12 05:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:01:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:01:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:01:29 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 05:01:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 05:01:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.011s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:01:42 INFO: [Worker 0] Feasible grasp found 372 (originally 372): w/ 0.685[m] 89.071[deg] [grasp_sample.py: 539] +05/12 05:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:01:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:01:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.479s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:01:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.178[m] 18.302[deg] [grasp_sample.py: 539] +05/12 05:01:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:01:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:01:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:01:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:01:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:01:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:01:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:01:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:01:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:01:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:01:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:01:57 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.174[m] 17.684[deg] [grasp_sample.py: 539] +05/12 05:01:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:01:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:01:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:02:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:02:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:02:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:02:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.483s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:02:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.174[m] 17.684[deg] [grasp_sample.py: 539] +05/12 05:02:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:02:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:02:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:02:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:02:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:02:22 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:02:22 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=0.94s: + episode_total: mean=52.25s, total=104.50s, count=2, min=6978.5ms, max=97526.4ms + sensor_polling: mean=349.9ms, total=52.14s, count=149, min=299.1ms, max=612.5ms + physics_step: mean=21.7ms, total=3.24s, count=149, min=13.6ms, max=65.2ms + task_sampling: mean=470.5ms, total=941.0ms, count=2, min=417.8ms, max=523.2ms + task_specific_sample: mean=467.3ms, total=934.6ms, count=2, min=414.8ms, max=519.7ms + scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=1.1ms, max=1.2ms + mj_forward_sync: mean=505.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=14.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:02:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131163m [env.py: 870] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:02:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=310.5ms, total=310.5ms [env.py: 1105] +05/12 05:02:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:02:24 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:02:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106181m [env.py: 870] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=199.6ms, total=199.7ms [env.py: 1105] +05/12 05:02:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:02:25 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:02:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104517m [env.py: 870] +05/12 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43307373 -1.03592896 -0.10451677] yaw=-46.8deg [env.py: 1019] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23432456 -1.17785098 -0.10451677] yaw=-45.3deg [env.py: 1019] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:02:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.5ms [env.py: 1075] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -1.036, -0.105) [env.py: 1079] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg [env.py: 1082] +05/12 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:02:27 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 05:02:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 05:02:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:02:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:02:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:02:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:02:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.599s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:02:30 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.740[m] 92.312[deg] [grasp_sample.py: 539] +05/12 05:02:31 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:02:31 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 05:02:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153386m [env.py: 870] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=359.7ms, total=359.8ms [env.py: 1105] +05/12 05:02:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:02:32 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:02:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183813m [env.py: 870] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1798853 -1.0046861 -0.18381318] yaw=-44.4deg [env.py: 1019] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16142561 -1.00201645 -0.18381318] yaw=-36.6deg [env.py: 1019] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:02:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.5ms, total=286.6ms [env.py: 1075] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.005, -0.184) [env.py: 1079] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 05:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:02:34 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 05:02:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 05:02:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:02:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:02:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.754s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:02:36 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136640m [env.py: 870] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32507406 -0.98342481 -0.13663982] yaw=-52.3deg [env.py: 1019] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34317618 -0.91001982 -0.13663982] yaw=-48.5deg [env.py: 1019] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36772403 -0.93749399 -0.13663982] yaw=-53.4deg [env.py: 1019] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:02:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.1ms, total=250.2ms [env.py: 1075] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -0.983, -0.137) [env.py: 1079] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 05:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 05:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:02:38 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 05:02:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 05:02:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:02:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:02:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:02:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.649s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:02:42 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.778[m] 88.713[deg] [grasp_sample.py: 539] +05/12 05:02:43 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:02:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144094m [env.py: 870] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.4ms, total=218.4ms [env.py: 1105] +05/12 05:02:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:02:44 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:02:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:02:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:02:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:02:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:02:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:02:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169922m [env.py: 870] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:02:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21342599 -1.08708306 -0.16992154] yaw=-52.0deg [env.py: 1019] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:02:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms [env.py: 1075] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.087, -0.170) [env.py: 1079] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/12 05:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:02:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:02:46 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 05:02:46 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:02:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:02:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:02:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:02:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.103s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:02:53 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.705[m] 82.616[deg] [grasp_sample.py: 539] +05/12 05:02:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:02:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:02:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:02:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:03:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:03:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:05 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:03:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:03:05 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 05:03:14 INFO: [Worker 0] Object is not in grasp! 0.00120 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:03:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:03:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:03:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:03:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 409 non-colliding grasps [grasp_sample.py: 465] +05/12 05:03:14 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:03:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.438s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:03:14 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.146[m] 3.159[deg] [grasp_sample.py: 539] +05/12 05:03:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:03:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:03:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:03:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:03:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.65s (batch: 3.53s, save: 9.13s) [pipeline.py: 300] +05/12 05:03:18 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=2.84s: + episode_total: mean=24.46s, total=171.19s, count=7, min=198.4ms, max=145413.5ms + sensor_polling: mean=345.6ms, total=94.34s, count=273, min=301.0ms, max=694.9ms + save_trajectories: mean=9.13s, total=9.13s, count=1, min=9126.2ms, max=9126.2ms + physics_step: mean=22.5ms, total=6.14s, count=273, min=19.9ms, max=30.4ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3525.7ms, max=3525.7ms + task_specific_sample: mean=462.0ms, total=3.23s, count=7, min=195.5ms, max=816.9ms + task_sampling: mean=567.8ms, total=2.84s, count=5, min=319.8ms, max=819.1ms + task_sampling_failed: mean=206.8ms, total=413.6ms, count=2, min=198.4ms, max=215.2ms + scene_randomize: mean=1.2ms, total=8.6ms, count=7, min=1.0ms, max=2.6ms + mj_forward_sync: mean=423.9us, total=3.0ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:03:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:03:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:03:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:03:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:03:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:03:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:03:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193163m [env.py: 870] +05/12 05:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:03:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49369756 -0.96817072 -0.19316283] yaw=-65.5deg [env.py: 1019] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=608.1ms, total=608.1ms [env.py: 1075] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.968, -0.193) [env.py: 1079] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg [env.py: 1082] +05/12 05:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 05:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:03:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:03:20 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 05:03:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 05:03:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:03:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:03:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:03:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.596s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:03:22 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.647[m] 91.941[deg] [grasp_sample.py: 539] +05/12 05:03:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:03:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:03:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:03:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:03:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:03:38 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 05:03:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:46 INFO: [Worker 0] Object is not in grasp! 0.00143 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:03:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:03:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:03:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:03:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 05:03:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:03:47 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.133[m] 3.059[deg] [grasp_sample.py: 539] +05/12 05:03:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:03:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:03:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:03:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:03:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.28s (batch: 3.04s, save: 9.25s) [pipeline.py: 300] +05/12 05:03:50 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=4.48s: + episode_total: mean=14.77s, total=221.48s, count=15, min=208.5ms, max=151526.7ms + sensor_polling: mean=351.8ms, total=99.20s, count=282, min=298.1ms, max=585.9ms + save_trajectories: mean=9.25s, total=9.25s, count=1, min=9245.6ms, max=9245.6ms + physics_step: mean=23.6ms, total=6.65s, count=282, min=14.9ms, max=105.2ms + task_specific_sample: mean=370.5ms, total=5.56s, count=15, min=205.2ms, max=558.7ms + task_sampling: mean=447.7ms, total=4.48s, count=10, min=400.7ms, max=561.1ms + save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3035.4ms, max=3035.4ms + task_sampling_failed: mean=225.5ms, total=1.13s, count=5, min=208.4ms, max=251.9ms + scene_randomize: mean=1.2ms, total=18.4ms, count=15, min=1.0ms, max=2.2ms + mj_forward_sync: mean=413.8us, total=6.2ms, count=15, min=0.4ms, max=0.5ms + policy_setup: mean=14.8us, total=0.1ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:03:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:03:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:03:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:03:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:03:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:03:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:03:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:03:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170154m [env.py: 870] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:03:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30541891 -1.19834987 -0.17015377] yaw=-35.9deg [env.py: 1019] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:03:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=206.9ms [env.py: 1075] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -1.198, -0.170) [env.py: 1079] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.9 deg [env.py: 1082] +05/12 05:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:03:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:03:52 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 05:03:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 05:03:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:03:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:03:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:03:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.654s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:03:56 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.619[m] 80.412[deg] [grasp_sample.py: 539] +05/12 05:03:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:03:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:03:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:03:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:04:01 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:04:01 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=1.57s: + episode_total: mean=31.69s, total=158.46s, count=5, min=202.1ms, max=153449.4ms + sensor_polling: mean=397.2ms, total=119.16s, count=300, min=327.4ms, max=588.7ms + physics_step: mean=25.1ms, total=7.53s, count=300, min=20.1ms, max=36.8ms + task_specific_sample: mean=516.0ms, total=2.58s, count=5, min=198.3ms, max=816.9ms + task_sampling: mean=524.5ms, total=1.57s, count=3, min=408.3ms, max=707.3ms + task_sampling_failed: mean=511.1ms, total=1.02s, count=2, min=202.1ms, max=820.0ms + scene_randomize: mean=1.4ms, total=7.2ms, count=5, min=0.9ms, max=2.8ms + mj_forward_sync: mean=383.5us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:04:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:04:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:04:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:04:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100745m [env.py: 870] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49776118 -0.78075024 -0.1007453 ] yaw=-55.2deg [env.py: 1019] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=517.6ms, total=517.7ms [env.py: 1075] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.781, -0.101) [env.py: 1079] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 05:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:04:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:04:04 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 05:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:04:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:04:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:04:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.394s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:04:05 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:04:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:04:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:04:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:04:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:04:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:04:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:04:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:04:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:04:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182162m [env.py: 870] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:04:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29643203 -0.97218143 -0.18216188] yaw=-44.2deg [env.py: 1019] +05/12 05:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:04:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.5ms, total=205.5ms [env.py: 1075] +05/12 05:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -0.972, -0.182) [env.py: 1079] +05/12 05:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/12 05:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 05:04:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:04:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:04:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:04:07 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 05:04:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:04:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:04:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:04:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:04:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.525s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:04:09 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.770[m] 90.567[deg] [grasp_sample.py: 539] +05/12 05:04:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:04:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:04:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:04:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:04:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:04:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:04:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:04:36 INFO: [Worker 0] Object is not in grasp! 0.00141 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:04:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:04:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:04:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:04:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 05:04:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:04:38 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.067[m] 5.291[deg] [grasp_sample.py: 539] +05/12 05:04:39 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:04:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:04:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:04:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:04:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:04:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157156m [env.py: 870] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.0ms, total=214.1ms [env.py: 1105] +05/12 05:04:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:04:41 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:04:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:04:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:04:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:04:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:04:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:04:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:04:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198346m [env.py: 870] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:04:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52100396 -1.04626593 -0.1983461 ] yaw=-63.4deg [env.py: 1019] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39158052 -0.82429341 -0.1983461 ] yaw=-63.5deg [env.py: 1019] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:04:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.7ms, total=220.8ms [env.py: 1075] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -1.046, -0.198) [env.py: 1079] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/12 05:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:04:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:04:42 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 05:04:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 05:04:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:04:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:04:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:04:44 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:04:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.533s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:04:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.589[m] 86.489[deg] [grasp_sample.py: 539] +05/12 05:04:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:04:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:04:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:04:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:04:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:04:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:05:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:05:04 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 05:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:05:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:05:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:05:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:05:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:05:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:05:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.660s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:05:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.410[m] 55.732[deg] [grasp_sample.py: 539] +05/12 05:05:13 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:05:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:05:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:05:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:05:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:05:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:05:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:05:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:05:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:05:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189992m [env.py: 870] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:05:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.2ms [env.py: 1105] +05/12 05:05:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:05:14 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:05:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:05:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:05:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:05:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:05:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:05:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:05:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:05:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:05:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:05:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:05:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128184m [env.py: 870] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:05:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.9ms, total=196.9ms [env.py: 1105] +05/12 05:05:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:05:16 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:05:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:05:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:05:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.16s (batch: 3.02s, save: 9.15s) [pipeline.py: 300] +05/12 05:05:17 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=1.97s: + episode_total: mean=20.58s, total=164.64s, count=8, min=208.4ms, max=151295.0ms + sensor_polling: mean=364.7ms, total=100.66s, count=276, min=296.2ms, max=640.2ms + save_trajectories: mean=9.15s, total=9.15s, count=1, min=9147.7ms, max=9147.7ms + physics_step: mean=24.6ms, total=6.80s, count=276, min=19.7ms, max=49.0ms + task_specific_sample: mean=383.7ms, total=3.07s, count=8, min=204.4ms, max=575.0ms + save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3016.8ms, max=3016.8ms + task_sampling: mean=492.4ms, total=1.97s, count=4, min=439.8ms, max=577.3ms + task_sampling_failed: mean=280.8ms, total=1.12s, count=4, min=208.4ms, max=368.9ms + scene_randomize: mean=1.1ms, total=8.8ms, count=8, min=0.9ms, max=1.6ms + mj_forward_sync: mean=386.4us, total=3.1ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:05:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:05:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:05:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:05:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:05:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:05:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:05:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135198m [env.py: 870] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:05:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.9ms, total=194.9ms [env.py: 1105] +05/12 05:05:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:05:17 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:05:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:05:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:05:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:05:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:05:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:05:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:05:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123083m [env.py: 870] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:05:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:05:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:05:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:05:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:05:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:05:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:05:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139840m [env.py: 870] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:05:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61948338 -0.90591079 -0.12308258] yaw=-58.1deg [env.py: 1019] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15236734 -0.98123323 -0.12308258] yaw=-48.3deg [env.py: 1019] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32362966 -1.15446172 -0.12308258] yaw=-44.3deg [env.py: 1019] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:05:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.8ms, total=259.9ms [env.py: 1075] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.906, -0.123) [env.py: 1079] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41752057 -0.9999489 -0.13983953] yaw=-49.1deg [env.py: 1019] +05/12 05:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64520132 -0.93229946 -0.13983953] yaw=-62.0deg [env.py: 1019] +05/12 05:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:05:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=276.5ms, total=276.6ms [env.py: 1075] +05/12 05:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.000, -0.140) [env.py: 1079] +05/12 05:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 05:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 05:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:05:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:05:19 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 05:05:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:05:19 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 05:05:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 05:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:05:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:05:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:05:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:05:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:05:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:05:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:05:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:05:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.694[m] 85.982[deg] [grasp_sample.py: 539] +05/12 05:05:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.669s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:05:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.697[m] 87.629[deg] [grasp_sample.py: 539] +05/12 05:05:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:05:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:05:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:05:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:05:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:05:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:05:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:05:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:05:38 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:05:57 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:05:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:05:57 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/12 05:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:09 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:06:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:06:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:06:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.12s (batch: 3.87s, save: 9.25s) [pipeline.py: 300] +05/12 05:06:11 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.42s: + episode_total: mean=139.20s, total=139.20s, count=1, min=139198.8ms, max=139198.8ms + sensor_polling: mean=364.5ms, total=94.41s, count=259, min=307.5ms, max=622.3ms + save_trajectories: mean=9.25s, total=9.25s, count=1, min=9250.0ms, max=9250.0ms + physics_step: mean=22.8ms, total=5.90s, count=259, min=14.9ms, max=84.1ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.1ms, max=3874.1ms + task_sampling: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms + task_specific_sample: mean=414.2ms, total=414.2ms, count=1, min=414.2ms, max=414.2ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=424.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:06:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177642m [env.py: 870] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14224124 -0.98979114 -0.17764182] yaw=-43.4deg [env.py: 1019] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.4ms, total=188.4ms [env.py: 1075] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.142, -0.990, -0.178) [env.py: 1079] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/12 05:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:12 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 05:06:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 05:06:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.332s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:06:14 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:06:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187736m [env.py: 870] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57124985 -0.7188785 -0.18773582] yaw=-66.0deg [env.py: 1019] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms [env.py: 1075] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.719, -0.188) [env.py: 1079] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/12 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:16 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 05:06:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 05:06:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.396s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:06:17 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140117m [env.py: 870] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=244.5ms, total=244.6ms [env.py: 1105] +05/12 05:06:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:06:19 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168190m [env.py: 870] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2448921 -0.92260396 -0.16818956] yaw=-52.5deg [env.py: 1019] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.2ms, total=209.2ms [env.py: 1075] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -0.923, -0.168) [env.py: 1079] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/12 05:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:20 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 05:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:06:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.453s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:06:22 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:06:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:06:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:06:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:06:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 502 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187389m [env.py: 870] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35631214 -1.10834672 -0.18738927] yaw=-37.3deg [env.py: 1019] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24380728 -1.1392483 -0.18738927] yaw=-33.3deg [env.py: 1019] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.2ms, total=267.2ms [env.py: 1075] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.108, -0.187) [env.py: 1079] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/12 05:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 05:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:24 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 05:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.861s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:06:25 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.052[m] 1.019[deg] [grasp_sample.py: 539] +05/12 05:06:26 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:06:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:06:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.613s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:06:27 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.663[m] 95.474[deg] [grasp_sample.py: 539] +05/12 05:06:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:06:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:06:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:06:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133536m [env.py: 870] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.0ms, total=163.0ms [env.py: 1105] +05/12 05:06:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:06:28 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197848m [env.py: 870] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49499654 -1.05234064 -0.19784785] yaw=-56.3deg [env.py: 1019] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=244.5ms, total=244.5ms [env.py: 1075] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -1.052, -0.198) [env.py: 1079] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/12 05:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:30 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 05:06:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 05:06:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:06:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:06:30 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 05:06:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.603s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:06:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.607[m] 85.500[deg] [grasp_sample.py: 539] +05/12 05:06:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:06:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:06:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:06:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:06:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:06:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:06:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.34s (batch: 3.61s, save: 10.73s) [pipeline.py: 300] +05/12 05:06:45 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.25s: + episode_total: mean=80.46s, total=160.91s, count=2, min=2401.1ms, max=158511.5ms + sensor_polling: mean=379.6ms, total=110.08s, count=290, min=309.9ms, max=639.3ms + save_trajectories: mean=10.73s, total=10.73s, count=1, min=10730.6ms, max=10730.6ms + physics_step: mean=22.9ms, total=6.65s, count=290, min=14.9ms, max=35.5ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3605.5ms, max=3605.5ms + task_sampling: mean=622.6ms, total=1.25s, count=2, min=422.6ms, max=822.7ms + task_specific_sample: mean=619.6ms, total=1.24s, count=2, min=418.9ms, max=820.3ms + scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.1ms, max=1.2ms + mj_forward_sync: mean=393.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107078m [env.py: 870] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29473962 -0.86501843 -0.10707842] yaw=-59.2deg [env.py: 1019] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46283266 -0.77681858 -0.10707842] yaw=-69.8deg [env.py: 1019] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.4ms, total=228.4ms [env.py: 1075] +05/12 05:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -0.865, -0.107) [env.py: 1079] +05/12 05:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/12 05:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 05:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:47 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 05:06:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 05:06:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.346s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:06:48 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:06:48 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 05:06:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163681m [env.py: 870] +05/12 05:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=209.6ms, total=209.7ms [env.py: 1105] +05/12 05:06:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:06:50 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:06:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150939m [env.py: 870] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.7ms, total=190.7ms [env.py: 1105] +05/12 05:06:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:06:51 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:06:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153905m [env.py: 870] +05/12 05:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19094636 -1.0968451 -0.15390534] yaw=-49.1deg [env.py: 1019] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=277.5ms, total=277.6ms [env.py: 1075] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.097, -0.154) [env.py: 1079] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 05:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 05:06:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:53 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 05:06:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:06:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:06:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:06:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:06:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.511s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:06:57 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.769[m] 86.181[deg] [grasp_sample.py: 539] +05/12 05:06:58 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:06:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:06:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:06:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:06:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:06:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:06:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159695m [env.py: 870] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:06:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35003198 -1.01993573 -0.15969459] yaw=-56.2deg [env.py: 1019] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44830116 -0.94744044 -0.15969459] yaw=-56.3deg [env.py: 1019] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:06:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.4ms, total=241.5ms [env.py: 1075] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.020, -0.160) [env.py: 1079] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 05:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:06:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:06:59 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 05:07:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:07:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:07:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:07:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:07:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.601s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:07:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.700[m] 84.934[deg] [grasp_sample.py: 539] +05/12 05:07:03 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:07:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:07:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:07:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:07:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:07:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:07:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:07:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186101m [env.py: 870] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:07:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17501913 -1.01507391 -0.18610091] yaw=-35.3deg [env.py: 1019] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38349791 -0.87451924 -0.18610091] yaw=-55.8deg [env.py: 1019] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:07:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=386.4ms, total=386.4ms [env.py: 1075] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.015, -0.186) [env.py: 1079] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 05:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:07:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:07:05 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 05:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:07:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:07:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:07:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:07:07 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:07:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:07:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:07:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:07:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120703m [env.py: 870] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43784328 -1.02790152 -0.12070287] yaw=-63.5deg [env.py: 1019] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.2ms, total=257.3ms [env.py: 1075] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.028, -0.121) [env.py: 1079] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg [env.py: 1082] +05/12 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:07:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:07:09 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 05:07:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 05:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:07:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:07:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:07:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.987s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:07:14 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.739[m] 89.449[deg] [grasp_sample.py: 539] +05/12 05:07:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:07:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:07:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:07:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:07:16 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:07:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:07:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:07:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:07:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:07:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:07:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:07:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:07:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:07:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:07:35 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:07:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:07:35 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 05:07:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:07:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:07:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.32s (batch: 3.34s, save: 8.98s) [pipeline.py: 300] +05/12 05:07:48 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=1.80s: + episode_total: mean=37.30s, total=261.09s, count=7, min=202.7ms, max=149890.1ms + sensor_polling: mean=352.7ms, total=176.01s, count=499, min=292.1ms, max=620.6ms + physics_step: mean=23.0ms, total=11.47s, count=499, min=14.9ms, max=34.2ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8982.1ms, max=8982.1ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3339.4ms, max=3339.4ms + task_specific_sample: mean=372.7ms, total=2.61s, count=7, min=199.8ms, max=848.7ms + task_sampling: mean=598.9ms, total=1.80s, count=3, min=443.6ms, max=852.2ms + task_sampling_failed: mean=208.8ms, total=835.2ms, count=4, min=202.7ms, max=223.2ms + scene_randomize: mean=1.3ms, total=9.1ms, count=7, min=1.0ms, max=2.3ms + mj_forward_sync: mean=418.5us, total=2.9ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:07:49 INFO: [Worker 0] Object is not in grasp! 0.00095 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:07:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:07:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:07:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:07:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:07:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:07:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:07:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:07:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:07:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:07:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125031m [env.py: 870] +05/12 05:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:07:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31432267 -1.17777077 -0.1250308 ] yaw=-36.1deg [env.py: 1019] +05/12 05:07:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:07:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.3ms [env.py: 1075] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.178, -0.125) [env.py: 1079] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg [env.py: 1082] +05/12 05:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 05:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:07:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.339s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:07:50 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.452[deg] [grasp_sample.py: 539] +05/12 05:07:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:07:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:07:50 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 05:07:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/12 05:07:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:07:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:07:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:07:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:07:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:07:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.883s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:07:52 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.693[m] 79.792[deg] [grasp_sample.py: 539] +05/12 05:07:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:07:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:07:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:08:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:08:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:08:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:08:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 05:08:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.416s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:08:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.061[m] 0.255[deg] [grasp_sample.py: 539] +05/12 05:08:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:08:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:08:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:17 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:08:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:08:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:08:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:08:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:08:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:08:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:08:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 366 non-colliding grasps [grasp_sample.py: 465] +05/12 05:08:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:08:30 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.521[deg] [grasp_sample.py: 539] +05/12 05:08:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:08:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:08:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:37 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:08:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:08:37 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 05:08:38 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:08:38 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=1.08s: + episode_total: mean=65.86s, total=197.57s, count=3, min=170.9ms, max=129401.0ms + sensor_polling: mean=349.5ms, total=155.55s, count=445, min=292.6ms, max=678.0ms + physics_step: mean=22.6ms, total=10.04s, count=445, min=15.2ms, max=69.4ms + task_specific_sample: mean=413.8ms, total=1.24s, count=3, min=167.7ms, max=558.3ms + task_sampling: mean=540.5ms, total=1.08s, count=2, min=519.8ms, max=561.1ms + task_sampling_failed: mean=170.9ms, total=170.9ms, count=1, min=170.9ms, max=170.9ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.4ms + mj_forward_sync: mean=434.3us, total=1.3ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=15.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:08:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183129m [env.py: 870] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=200.4ms, total=200.5ms [env.py: 1105] +05/12 05:08:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:08:40 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:08:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180467m [env.py: 870] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66249772 -0.96082173 -0.18046734] yaw=-73.1deg [env.py: 1019] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:08:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:08:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=422.9ms, total=423.0ms [env.py: 1075] +05/12 05:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.662, -0.961, -0.180) [env.py: 1079] +05/12 05:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg [env.py: 1082] +05/12 05:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 05:08:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:08:42 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 05:08:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 05:08:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:08:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:08:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:08:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.997s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:08:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.596[m] 93.665[deg] [grasp_sample.py: 539] +05/12 05:08:45 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:08:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112553m [env.py: 870] +05/12 05:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.5ms, total=211.6ms [env.py: 1105] +05/12 05:08:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:08:47 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:08:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126071m [env.py: 870] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57358324 -0.82158345 -0.12607103] yaw=-58.7deg [env.py: 1019] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:08:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=206.3ms, total=206.4ms [env.py: 1075] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.822, -0.126) [env.py: 1079] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/12 05:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:08:48 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 05:08:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 05:08:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:08:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:08:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:08:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:08:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:08:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:08:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.62s (batch: 3.59s, save: 10.03s) [pipeline.py: 300] +05/12 05:08:51 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=1.73s: + episode_total: mean=30.79s, total=153.97s, count=5, min=253.4ms, max=147752.9ms + sensor_polling: mean=372.2ms, total=100.86s, count=271, min=303.9ms, max=681.6ms + save_trajectories: mean=10.03s, total=10.03s, count=1, min=10031.7ms, max=10031.7ms + physics_step: mean=23.7ms, total=6.42s, count=271, min=19.7ms, max=57.2ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3585.6ms, max=3585.6ms + task_specific_sample: mean=393.9ms, total=1.97s, count=5, min=249.6ms, max=474.6ms + task_sampling: mean=432.6ms, total=1.73s, count=4, min=406.8ms, max=476.9ms + task_sampling_failed: mean=253.4ms, total=253.4ms, count=1, min=253.4ms, max=253.4ms + scene_randomize: mean=1.2ms, total=6.1ms, count=5, min=1.0ms, max=1.7ms + mj_forward_sync: mean=461.0us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:08:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:08:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189933m [env.py: 870] +05/12 05:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=367.5ms, total=367.5ms [env.py: 1105] +05/12 05:08:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:08:53 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:08:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107732m [env.py: 870] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=527.3ms, total=527.3ms [env.py: 1105] +05/12 05:08:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:08:55 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:08:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181415m [env.py: 870] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=176.6ms, total=176.7ms [env.py: 1105] +05/12 05:08:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:08:56 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:08:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:08:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144396m [env.py: 870] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47385214 -0.78852691 -0.14439558] yaw=-69.5deg [env.py: 1019] +05/12 05:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:08:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.6ms [env.py: 1075] +05/12 05:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.789, -0.144) [env.py: 1079] +05/12 05:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/12 05:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 05:08:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:08:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:08:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:08:58 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 05:08:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 05:08:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:08:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:08:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:08:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.303s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:08:59 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:09:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.190s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:09:00 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.779[m] 88.719[deg] [grasp_sample.py: 539] +05/12 05:09:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:09:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:09:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:09:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:09:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:09:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166847m [env.py: 870] +05/12 05:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:09:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33239084 -0.97175752 -0.16684681] yaw=-59.3deg [env.py: 1019] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4684044 -0.9681714 -0.16684681] yaw=-67.3deg [env.py: 1019] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:09:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.4ms [env.py: 1075] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -0.972, -0.167) [env.py: 1079] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 05:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 05:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:01 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:09:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:09:01 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 05:09:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:09:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:09:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:09:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:09:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:09:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:09:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:09:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:09:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:09:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170970m [env.py: 870] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:09:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41944079 -1.07553048 -0.17097048] yaw=-52.8deg [env.py: 1019] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=212.0ms [env.py: 1075] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -1.076, -0.171) [env.py: 1079] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/12 05:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:09:03 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 05:09:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:09:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:09:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:09:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:09:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.513s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:09:05 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.635[m] 85.305[deg] [grasp_sample.py: 539] +05/12 05:09:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.841s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:09:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.750[m] 93.517[deg] [grasp_sample.py: 539] +05/12 05:09:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:09:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:09:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:09:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:09:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:09:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:09:19 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:09:33 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:09:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:09:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:09:40 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 05:09:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:09:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:09:52 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 05:09:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:09:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:09:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.33s (batch: 3.53s, save: 8.80s) [pipeline.py: 300] +05/12 05:09:53 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=2.45s: + episode_total: mean=25.59s, total=179.15s, count=7, min=198.6ms, max=165039.6ms + sensor_polling: mean=387.9ms, total=109.39s, count=282, min=310.2ms, max=808.4ms + save_trajectories: mean=8.80s, total=8.80s, count=1, min=8800.4ms, max=8800.4ms + physics_step: mean=23.4ms, total=6.61s, count=282, min=15.2ms, max=47.6ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3531.2ms, max=3531.2ms + task_specific_sample: mean=406.9ms, total=2.85s, count=7, min=195.8ms, max=568.3ms + task_sampling: mean=490.2ms, total=2.45s, count=5, min=438.0ms, max=570.4ms + task_sampling_failed: mean=208.4ms, total=416.8ms, count=2, min=198.6ms, max=218.2ms + scene_randomize: mean=1.2ms, total=8.6ms, count=7, min=0.9ms, max=2.7ms + mj_forward_sync: mean=416.0us, total=2.9ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:09:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:09:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:09:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:09:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:09:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:09:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115701m [env.py: 870] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:09:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20382342 -0.97539551 -0.11570096] yaw=-49.2deg [env.py: 1019] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16910048 -1.04584132 -0.11570096] yaw=-31.9deg [env.py: 1019] +05/12 05:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.6ms, total=193.6ms [env.py: 1075] +05/12 05:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -0.975, -0.116) [env.py: 1079] +05/12 05:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 05:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 05:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:09:55 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 05:09:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 05:09:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:09:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:09:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:09:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:09:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:09:56 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:09:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:09:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:09:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:09:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:09:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:09:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147163m [env.py: 870] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:09:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.0ms, total=205.0ms [env.py: 1105] +05/12 05:09:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:09:58 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:09:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:09:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:09:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121241m [env.py: 870] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.4ms, total=200.4ms [env.py: 1105] +05/12 05:09:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:09:59 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:10:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:10:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134206m [env.py: 870] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58057414 -0.77775134 -0.13420555] yaw=-66.9deg [env.py: 1019] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:10:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.1ms [env.py: 1075] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.778, -0.134) [env.py: 1079] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 05:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 05:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:10:01 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 05:10:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:10:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:10:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:10:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:10:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:10:03 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135738m [env.py: 870] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:10:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:10:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.71s (batch: 3.39s, save: 9.32s) [pipeline.py: 300] +05/12 05:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.9ms, total=211.0ms [env.py: 1105] +05/12 05:10:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:10:05 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:10:05 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.47s: + episode_total: mean=135.87s, total=135.87s, count=1, min=135865.4ms, max=135865.4ms + sensor_polling: mean=332.1ms, total=91.65s, count=276, min=297.4ms, max=545.9ms + save_trajectories: mean=9.32s, total=9.32s, count=1, min=9321.5ms, max=9321.5ms + physics_step: mean=21.9ms, total=6.04s, count=276, min=15.0ms, max=55.5ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3386.9ms, max=3386.9ms + task_sampling: mean=473.9ms, total=473.9ms, count=1, min=473.9ms, max=473.9ms + task_specific_sample: mean=470.0ms, total=470.0ms, count=1, min=470.0ms, max=470.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=418.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:10:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191452m [env.py: 870] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50484824 -0.92899262 -0.19145241] yaw=-62.8deg [env.py: 1019] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38863661 -0.83961326 -0.19145241] yaw=-68.9deg [env.py: 1019] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:10:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.1ms, total=169.1ms [env.py: 1075] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -0.929, -0.191) [env.py: 1079] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/12 05:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:10:06 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 05:10:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:10:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:10:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:10:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:10:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:10:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143041m [env.py: 870] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1105] +05/12 05:10:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:10:07 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:10:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119860m [env.py: 870] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.61929059 -0.94987313 -0.11986032] yaw=-77.5deg [env.py: 1019] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24890541 -1.1303621 -0.11986032] yaw=-29.4deg [env.py: 1019] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:10:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=169.8ms, total=169.8ms [env.py: 1075] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.950, -0.120) [env.py: 1079] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.5 deg [env.py: 1082] +05/12 05:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:10:09 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 05:10:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 05:10:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:10:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:10:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:10:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:10:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.905s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:10:10 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.700[m] 85.362[deg] [grasp_sample.py: 539] +05/12 05:10:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:10:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:10:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:10:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:10:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.274s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:10:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.651[m] 90.119[deg] [grasp_sample.py: 539] +05/12 05:10:12 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:10:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:10:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174375m [env.py: 870] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1105] +05/12 05:10:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:10:14 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:10:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135360m [env.py: 870] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14265332 -1.03743365 -0.13536022] yaw=-33.1deg [env.py: 1019] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:10:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.3ms, total=215.4ms [env.py: 1075] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.037, -0.135) [env.py: 1079] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.1 deg [env.py: 1082] +05/12 05:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:10:15 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 05:10:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:10:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:10:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:10:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:10:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.322s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:10:17 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:10:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:10:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:10:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:10:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:10:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:10:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157255m [env.py: 870] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:10:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55044632 -0.8991442 -0.15725532] yaw=-69.6deg [env.py: 1019] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24620452 -1.01049817 -0.15725532] yaw=-49.1deg [env.py: 1019] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=721.4ms, total=721.5ms [env.py: 1075] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.899, -0.157) [env.py: 1079] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg [env.py: 1082] +05/12 05:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 05:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:10:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:10:19 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 05:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:10:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:10:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:10:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:10:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.463s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:10:24 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.690[m] 96.242[deg] [grasp_sample.py: 539] +05/12 05:10:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:10:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:10:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:10:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:10:53 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:10:54 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:11:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:11:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:11:12 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/12 05:11:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:14 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:11:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:11:14 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 05:11:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:11:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.522s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:18 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.135[m] 14.301[deg] [grasp_sample.py: 539] +05/12 05:11:19 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:11:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178251m [env.py: 870] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16913406 -1.05965607 -0.17825065] yaw=-33.6deg [env.py: 1019] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms [env.py: 1075] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.060, -0.178) [env.py: 1079] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg [env.py: 1082] +05/12 05:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:21 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:11:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:11:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.10s (batch: 2.92s, save: 8.18s) [pipeline.py: 300] +05/12 05:11:23 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=1.51s: + episode_total: mean=31.63s, total=158.16s, count=5, min=209.9ms, max=140899.5ms + sensor_polling: mean=374.8ms, total=97.82s, count=261, min=293.7ms, max=623.1ms + save_trajectories: mean=8.18s, total=8.18s, count=1, min=8184.6ms, max=8184.6ms + physics_step: mean=24.5ms, total=6.39s, count=261, min=14.8ms, max=54.9ms + save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2918.7ms, max=2918.7ms + task_specific_sample: mean=384.6ms, total=1.92s, count=5, min=205.6ms, max=666.0ms + task_sampling: mean=503.1ms, total=1.51s, count=3, min=416.8ms, max=669.4ms + task_sampling_failed: mean=214.5ms, total=428.9ms, count=2, min=209.9ms, max=219.1ms + scene_randomize: mean=1.1ms, total=5.4ms, count=5, min=0.9ms, max=1.3ms + mj_forward_sync: mean=465.7us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=11.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:11:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.314s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:24 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:11:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108870m [env.py: 870] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=179.2ms, total=179.2ms [env.py: 1105] +05/12 05:11:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:11:24 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138474m [env.py: 870] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23838457 -1.0095848 -0.13847395] yaw=-51.8deg [env.py: 1019] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1075] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -1.010, -0.138) [env.py: 1079] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.8 deg [env.py: 1082] +05/12 05:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:25 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147343m [env.py: 870] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59752204 -0.96721639 -0.14734328] yaw=-55.4deg [env.py: 1019] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22158077 -1.15950069 -0.14734328] yaw=-43.9deg [env.py: 1019] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.0ms [env.py: 1075] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.967, -0.147) [env.py: 1079] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 05:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:11:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:11:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.49s (batch: 3.44s, save: 9.05s) [pipeline.py: 300] +05/12 05:11:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:26 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:11:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:27 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.83s: + episode_total: mean=29.86s, total=149.28s, count=5, min=184.5ms, max=146276.8ms + sensor_polling: mean=343.3ms, total=97.15s, count=283, min=302.3ms, max=574.5ms + save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.0ms, max=9050.0ms + physics_step: mean=22.2ms, total=6.28s, count=283, min=15.3ms, max=55.5ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3438.8ms, max=3438.8ms + task_specific_sample: mean=381.7ms, total=1.91s, count=5, min=181.5ms, max=532.1ms + task_sampling_failed: mean=365.8ms, total=1.10s, count=3, min=184.4ms, max=535.3ms + task_sampling: mean=413.2ms, total=826.4ms, count=2, min=404.6ms, max=421.8ms + scene_randomize: mean=1.2ms, total=6.2ms, count=5, min=1.0ms, max=1.8ms + mj_forward_sync: mean=406.1us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:11:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:11:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123809m [env.py: 870] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54291328 -1.02982285 -0.12380907] yaw=-70.5deg [env.py: 1019] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26843892 -0.96962387 -0.12380907] yaw=-40.8deg [env.py: 1019] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1075] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -1.030, -0.124) [env.py: 1079] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.5 deg [env.py: 1082] +05/12 05:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:28 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.421s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:29 INFO: [Worker 0] Feasible grasp found 528 (originally 528): w/ 0.209[m] 16.603[deg] [grasp_sample.py: 539] +05/12 05:11:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.413s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.646[m] 81.071[deg] [grasp_sample.py: 539] +05/12 05:11:30 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:11:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:11:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:30 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:11:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:11:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:11:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.818s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:30 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.667[m] 90.180[deg] [grasp_sample.py: 539] +05/12 05:11:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:11:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:11:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:11:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129407m [env.py: 870] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120156m [env.py: 870] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.4ms, total=245.4ms [env.py: 1105] +05/12 05:11:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:11:32 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30779016 -0.90501683 -0.1201558 ] yaw=-63.0deg [env.py: 1019] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44804551 -0.84651075 -0.1201558 ] yaw=-56.0deg [env.py: 1019] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53241715 -0.95261967 -0.1201558 ] yaw=-68.7deg [env.py: 1019] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.0ms, total=259.0ms [env.py: 1075] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -0.905, -0.120) [env.py: 1079] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/12 05:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 05:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:32 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197914m [env.py: 870] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3748881 -0.81287033 -0.1979142 ] yaw=-68.3deg [env.py: 1019] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21968111 -1.158424 -0.1979142 ] yaw=-42.1deg [env.py: 1019] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.5ms, total=212.5ms [env.py: 1075] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -0.813, -0.198) [env.py: 1079] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 05:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:33 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.405s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:11:33 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:11:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141149m [env.py: 870] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.5ms, total=203.6ms [env.py: 1105] +05/12 05:11:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:11:35 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:11:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.706s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:11:35 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:11:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160882m [env.py: 870] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21781965 -1.07045455 -0.1608824 ] yaw=-41.5deg [env.py: 1019] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.4ms, total=290.4ms [env.py: 1075] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.070, -0.161) [env.py: 1079] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161240m [env.py: 870] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.4ms, total=198.4ms [env.py: 1105] +05/12 05:11:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:11:37 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:11:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:37 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164351m [env.py: 870] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25760398 -1.11326967 -0.16435103] yaw=-47.1deg [env.py: 1019] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42724354 -0.80294106 -0.16435103] yaw=-63.1deg [env.py: 1019] +05/12 05:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27915646 -0.92577589 -0.16435103] yaw=-38.8deg [env.py: 1019] +05/12 05:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.6ms [env.py: 1075] +05/12 05:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -1.113, -0.164) [env.py: 1079] +05/12 05:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/12 05:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 05:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:39 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.299s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.704[m] 87.632[deg] [grasp_sample.py: 539] +05/12 05:11:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:11:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:11:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:50 INFO: [Worker 0] Feasible grasp found 497 (originally 497): w/ 0.751[m] 79.152[deg] [grasp_sample.py: 539] +05/12 05:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:51 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145388m [env.py: 870] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43153712 -0.88616747 -0.14538778] yaw=-53.4deg [env.py: 1019] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=260.3ms, total=260.4ms [env.py: 1075] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.432, -0.886, -0.145) [env.py: 1079] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 05:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:53 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.905s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:11:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.751[m] 76.802[deg] [grasp_sample.py: 539] +05/12 05:11:56 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:11:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:11:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:11:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:11:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:11:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135264m [env.py: 870] +05/12 05:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:11:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:11:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61023495 -0.79213196 -0.13526419] yaw=-74.8deg [env.py: 1019] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52266296 -0.72997318 -0.13526419] yaw=-68.1deg [env.py: 1019] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:11:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=445.9ms, total=445.9ms [env.py: 1075] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.610, -0.792, -0.135) [env.py: 1079] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.8 deg [env.py: 1082] +05/12 05:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 05:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:11:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:11:58 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 05:11:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 05:11:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:11:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:11:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:11:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:11:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:11:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:12:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.676s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:12:00 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.477[m] 60.504[deg] [grasp_sample.py: 539] +05/12 05:12:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:12:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:12:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.090s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:12:01 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.777[m] 92.762[deg] [grasp_sample.py: 539] +05/12 05:12:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:12:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:12:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:12:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:12:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:12:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:12:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:12:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:12:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.477[m] 60.505[deg] [grasp_sample.py: 539] +05/12 05:12:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:12:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:12:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:12:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:12:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:12:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:12:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:12:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.328s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:12:26 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.477[m] 60.505[deg] [grasp_sample.py: 539] +05/12 05:12:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:12:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:12:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:12:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:12:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:12:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:12:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/12 05:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:12:31 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.032[m] 1.598[deg] [grasp_sample.py: 539] +05/12 05:12:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:12:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:12:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:12:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:12:38 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:12:38 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=0.43s: + episode_total: mean=69.52s, total=69.52s, count=1, min=69523.9ms, max=69523.9ms + sensor_polling: mean=361.4ms, total=28.19s, count=78, min=307.5ms, max=479.8ms + physics_step: mean=19.9ms, total=1.55s, count=78, min=13.5ms, max=40.3ms + task_sampling: mean=432.9ms, total=432.9ms, count=1, min=432.9ms, max=432.9ms + task_specific_sample: mean=429.4ms, total=429.4ms, count=1, min=429.4ms, max=429.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=402.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:12:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:12:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:12:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:12:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:12:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:12:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:12:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167753m [env.py: 870] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:12:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56586393 -0.97251577 -0.1677534 ] yaw=-69.1deg [env.py: 1019] +05/12 05:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:12:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=635.2ms, total=635.3ms [env.py: 1075] +05/12 05:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.973, -0.168) [env.py: 1079] +05/12 05:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 05:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 05:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:12:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:12:40 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 05:12:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:12:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:12:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:12:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:12:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:12:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.439s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:12:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.617[m] 91.272[deg] [grasp_sample.py: 539] +05/12 05:12:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:12:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:12:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:12:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:12:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:53 INFO: [Worker 0] Object is not in grasp! 0.00089 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:12:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:12:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:12:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:12:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 05:12:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.301s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:12:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.047[m] 0.907[deg] [grasp_sample.py: 539] +05/12 05:12:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:12:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:12:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:12:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:01 INFO: [Worker 0] Object is not in grasp! 0.00108 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:13:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 347 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:13:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:02 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.056[m] 8.477[deg] [grasp_sample.py: 539] +05/12 05:13:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:13:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.493[m] 68.197[deg] [grasp_sample.py: 539] +05/12 05:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:11 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.160[m] 8.500[deg] [grasp_sample.py: 539] +05/12 05:13:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:13:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:13:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.229s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:18 INFO: [Worker 0] Feasible grasp found 387 (originally 387): w/ 0.289[m] 9.791[deg] [grasp_sample.py: 539] +05/12 05:13:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.163s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.493[m] 68.201[deg] [grasp_sample.py: 539] +05/12 05:13:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:20 INFO: [Worker 0] Object is not in grasp! 0.00120 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:13:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 374 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:21 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.374s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:22 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.065[m] 10.829[deg] [grasp_sample.py: 539] +05/12 05:13:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:13:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:13:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:13:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:34 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.493[m] 68.201[deg] [grasp_sample.py: 539] +05/12 05:13:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.205s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:40 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.272[m] 9.623[deg] [grasp_sample.py: 539] +05/12 05:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:13:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:13:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 05:13:41 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:13:41 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:13:41 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=False episode_total=2.69s: + episode_total: mean=22.66s, total=203.98s, count=9, min=207.0ms, max=123133.4ms + sensor_polling: mean=339.2ms, total=148.92s, count=439, min=292.7ms, max=718.6ms + physics_step: mean=22.2ms, total=9.73s, count=439, min=14.8ms, max=56.2ms + task_specific_sample: mean=393.8ms, total=3.54s, count=9, min=203.4ms, max=941.3ms + task_sampling: mean=537.0ms, total=2.68s, count=5, min=390.5ms, max=943.5ms + task_sampling_failed: mean=221.9ms, total=887.6ms, count=4, min=207.0ms, max=254.2ms + scene_randomize: mean=1.4ms, total=12.8ms, count=9, min=1.0ms, max=2.8ms + mj_forward_sync: mean=444.3us, total=4.0ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163148m [env.py: 870] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58239124 -0.94501014 -0.16314807] yaw=-69.5deg [env.py: 1019] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24454304 -0.95689581 -0.16314807] yaw=-41.2deg [env.py: 1019] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:13:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=381.8ms, total=381.8ms [env.py: 1075] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.945, -0.163) [env.py: 1079] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:13:43 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 05:13:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:13:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190356m [env.py: 870] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25109709 -1.00238165 -0.19035613] yaw=-53.1deg [env.py: 1019] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:13:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56991376 -0.85937098 -0.19035613] yaw=-75.0deg [env.py: 1019] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:13:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.293s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:13:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=473.5ms, total=473.6ms [env.py: 1075] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.002, -0.190) [env.py: 1079] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 05:13:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:13:44 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 05:13:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 05:13:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.661s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:45 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.667[m] 77.545[deg] [grasp_sample.py: 539] +05/12 05:13:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:13:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:13:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:13:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:13:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:13:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:13:46 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:13:46 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:13:46 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.88s: + episode_total: mean=67.46s, total=67.46s, count=1, min=67458.0ms, max=67458.0ms + sensor_polling: mean=339.7ms, total=22.76s, count=67, min=307.4ms, max=602.6ms + physics_step: mean=18.4ms, total=1.23s, count=67, min=13.1ms, max=26.6ms + task_sampling: mean=881.3ms, total=881.3ms, count=1, min=881.3ms, max=881.3ms + task_specific_sample: mean=878.4ms, total=878.4ms, count=1, min=878.4ms, max=878.4ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=427.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:13:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129303m [env.py: 870] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36174711 -1.06381453 -0.12930266] yaw=-53.9deg [env.py: 1019] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:13:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=459.3ms, total=459.3ms [env.py: 1075] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.064, -0.129) [env.py: 1079] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg [env.py: 1082] +05/12 05:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:13:48 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 05:13:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 05:13:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.706[m] 80.509[deg] [grasp_sample.py: 539] +05/12 05:13:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.526s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:50 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.720[m] 86.841[deg] [grasp_sample.py: 539] +05/12 05:13:51 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:13:51 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:13:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159027m [env.py: 870] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49136111 -0.83318117 -0.15902742] yaw=-73.3deg [env.py: 1019] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39452334 -1.09702982 -0.15902742] yaw=-42.8deg [env.py: 1019] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:13:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.833, -0.159) [env.py: 1079] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/12 05:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:13:52 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 05:13:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:13:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191775m [env.py: 870] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.7ms, total=216.7ms [env.py: 1105] +05/12 05:13:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:13:53 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158264m [env.py: 870] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60476251 -0.90770948 -0.15826423] yaw=-75.9deg [env.py: 1019] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56867067 -0.95310039 -0.15826423] yaw=-62.1deg [env.py: 1019] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:13:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.2ms, total=181.2ms [env.py: 1075] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.908, -0.158) [env.py: 1079] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.9 deg [env.py: 1082] +05/12 05:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 05:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:13:55 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 05:13:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 05:13:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:13:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:13:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:13:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.17s (batch: 3.46s, save: 10.71s) [pipeline.py: 300] +05/12 05:13:55 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.46s: + episode_total: mean=74.92s, total=149.85s, count=2, min=189.8ms, max=149658.5ms + sensor_polling: mean=328.2ms, total=98.46s, count=300, min=297.2ms, max=629.2ms + save_trajectories: mean=10.71s, total=10.71s, count=1, min=10712.2ms, max=10712.2ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=14.5ms, max=59.0ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3462.6ms, max=3462.6ms + task_specific_sample: mean=319.6ms, total=639.1ms, count=2, min=185.1ms, max=454.1ms + task_sampling: mean=456.8ms, total=456.8ms, count=1, min=456.8ms, max=456.8ms + task_sampling_failed: mean=189.8ms, total=189.8ms, count=1, min=189.8ms, max=189.8ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=0.9ms, max=2.3ms + mj_forward_sync: mean=447.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=13.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:13:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.884s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.759[m] 99.511[deg] [grasp_sample.py: 539] +05/12 05:13:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.968s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:13:56 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.679[m] 98.825[deg] [grasp_sample.py: 539] +05/12 05:13:57 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:13:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138694m [env.py: 870] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:57 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:13:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=378.9ms, total=378.9ms [env.py: 1105] +05/12 05:13:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:13:57 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:13:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135767m [env.py: 870] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.7ms, total=208.7ms [env.py: 1105] +05/12 05:13:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:13:58 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:13:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146183m [env.py: 870] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:13:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:13:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:13:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:13:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:13:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160469m [env.py: 870] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:13:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54310186 -1.02012963 -0.146183 ] yaw=-51.5deg [env.py: 1019] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:13:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=499.6ms, total=499.6ms [env.py: 1075] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -1.020, -0.146) [env.py: 1079] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44644795 -1.10144129 -0.16046941] yaw=-46.5deg [env.py: 1019] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3587963 -1.06732395 -0.16046941] yaw=-54.7deg [env.py: 1019] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:13:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:13:59 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:13:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=716.4ms, total=716.4ms [env.py: 1075] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -1.101, -0.160) [env.py: 1079] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 05:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:13:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:13:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 05:13:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:13:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:13:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:00 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170585m [env.py: 870] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46014446 -0.90343457 -0.17058459] yaw=-52.0deg [env.py: 1019] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=219.0ms, total=219.0ms [env.py: 1075] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.903, -0.171) [env.py: 1079] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/12 05:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:00 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.831s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.637[m] 84.111[deg] [grasp_sample.py: 539] +05/12 05:14:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.636[m] 92.877[deg] [grasp_sample.py: 539] +05/12 05:14:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:14:02 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:14:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:14:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:14:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:14:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155066m [env.py: 870] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46764943 -0.87946594 -0.15506584] yaw=-71.3deg [env.py: 1019] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62053544 -0.95094223 -0.15506584] yaw=-78.0deg [env.py: 1019] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=298.2ms, total=298.2ms [env.py: 1075] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.879, -0.155) [env.py: 1079] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.3 deg [env.py: 1082] +05/12 05:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:03 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.901s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:04 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.786[m] 85.947[deg] [grasp_sample.py: 539] +05/12 05:14:05 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:14:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126864m [env.py: 870] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47668476 -0.93309356 -0.12686419] yaw=-54.8deg [env.py: 1019] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.7ms [env.py: 1075] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -0.933, -0.127) [env.py: 1079] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/12 05:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 05:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:07 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.682s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.741[m] 83.049[deg] [grasp_sample.py: 539] +05/12 05:14:09 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:14:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130639m [env.py: 870] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46168457 -0.77279871 -0.13063885] yaw=-56.3deg [env.py: 1019] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43308956 -0.99463374 -0.13063885] yaw=-62.0deg [env.py: 1019] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=489.9ms, total=489.9ms [env.py: 1075] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.773, -0.131) [env.py: 1079] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/12 05:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:11 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:11 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.774[m] 97.166[deg] [grasp_sample.py: 539] +05/12 05:14:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:14:12 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:14:12 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:14:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173377m [env.py: 870] +05/12 05:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53505 -0.84710771 -0.17337661] yaw=-53.5deg [env.py: 1019] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.2ms [env.py: 1075] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -0.847, -0.173) [env.py: 1079] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184097m [env.py: 870] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:14 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45470878 -0.80771849 -0.18409689] yaw=-55.6deg [env.py: 1019] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35800376 -0.84131119 -0.18409689] yaw=-45.6deg [env.py: 1019] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31406014 -1.02207913 -0.18409689] yaw=-52.4deg [env.py: 1019] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=658.4ms, total=658.4ms [env.py: 1075] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.808, -0.184) [env.py: 1079] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 05:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:15 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.792s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.721[m] 91.074[deg] [grasp_sample.py: 539] +05/12 05:14:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.639s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:17 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:14:18 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115433m [env.py: 870] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57085606 -0.85337113 -0.11543267] yaw=-69.7deg [env.py: 1019] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=292.6ms, total=292.6ms [env.py: 1075] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.853, -0.115) [env.py: 1079] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg [env.py: 1082] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:19 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:14:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:14:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:14:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178391m [env.py: 870] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50327954 -0.9673032 -0.17839093] yaw=-55.7deg [env.py: 1019] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:14:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=454.7ms, total=454.8ms [env.py: 1075] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.967, -0.178) [env.py: 1079] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/12 05:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 05:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:14:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:14:20 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 05:14:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 05:14:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.998s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:21 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.763[m] 84.171[deg] [grasp_sample.py: 539] +05/12 05:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:14:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:14:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:14:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.644[m] 89.689[deg] [grasp_sample.py: 539] +05/12 05:14:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:14:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:14:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:14:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:14:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:14:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:14:58 INFO: [Worker 0] Object is not in grasp! 0.00094 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:14:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:14:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:14:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:14:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/12 05:14:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:14:59 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.069[m] 5.628[deg] [grasp_sample.py: 539] +05/12 05:15:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:15:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:15:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:15:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:15:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:15:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 325 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.406s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:19 INFO: [Worker 0] Feasible grasp found 437 (originally 437): w/ 0.072[m] 0.337[deg] [grasp_sample.py: 539] +05/12 05:15:20 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:15:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129635m [env.py: 870] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45053925 -0.751301 -0.1296349 ] yaw=-70.9deg [env.py: 1019] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.4ms, total=212.4ms [env.py: 1075] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.751, -0.130) [env.py: 1079] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg [env.py: 1082] +05/12 05:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m [env.py: 1086] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:15:21 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 05:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.282s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:15:23 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110024m [env.py: 870] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13494205 -0.99754822 -0.11002401] yaw=-35.3deg [env.py: 1019] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:15:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms [env.py: 1075] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -0.998, -0.110) [env.py: 1079] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 05:15:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:15:25 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 05:15:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:15:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:15:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:15:26 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:15:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.843s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:26 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.114[m] 8.899[deg] [grasp_sample.py: 539] +05/12 05:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197765m [env.py: 870] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:27 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47815655 -0.91636414 -0.19776516] yaw=-61.0deg [env.py: 1019] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17694839 -1.00228045 -0.19776516] yaw=-53.1deg [env.py: 1019] +05/12 05:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:15:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=207.0ms [env.py: 1075] +05/12 05:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.478, -0.916, -0.198) [env.py: 1079] +05/12 05:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/12 05:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 05:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:15:28 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 05:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163450m [env.py: 870] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.0ms, total=204.1ms [env.py: 1105] +05/12 05:15:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:15:29 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:15:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.520s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.713[m] 84.350[deg] [grasp_sample.py: 539] +05/12 05:15:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120161m [env.py: 870] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49206104 -0.98663374 -0.12016119] yaw=-67.9deg [env.py: 1019] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:15:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.5ms [env.py: 1075] +05/12 05:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -0.987, -0.120) [env.py: 1079] +05/12 05:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/12 05:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 05:15:31 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:15:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:15:31 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 05:15:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 05:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148928m [env.py: 870] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53445275 -0.91810874 -0.14892768] yaw=-59.7deg [env.py: 1019] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11914573 -1.10272146 -0.14892768] yaw=-28.7deg [env.py: 1019] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:15:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.918, -0.149) [env.py: 1079] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 05:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:15:32 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 05:15:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:15:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.966s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.733[m] 83.644[deg] [grasp_sample.py: 539] +05/12 05:15:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.602s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:34 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.696[m] 87.516[deg] [grasp_sample.py: 539] +05/12 05:15:34 INFO: [Worker 0] Object is not in grasp! 0.00150 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:15:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:15:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:15:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:15:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:35 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:15:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.404s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:36 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.621[deg] [grasp_sample.py: 539] +05/12 05:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:15:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:15:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189274m [env.py: 870] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=247.8ms, total=247.8ms [env.py: 1105] +05/12 05:15:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:15:37 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:15:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135558m [env.py: 870] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=273.8ms, total=273.8ms [env.py: 1105] +05/12 05:15:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:15:38 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:15:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144093m [env.py: 870] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=557.9ms, total=558.0ms [env.py: 1105] +05/12 05:15:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:15:40 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:15:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198183m [env.py: 870] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17250644 -1.11805055 -0.19818281] yaw=-30.8deg [env.py: 1019] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:15:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=518.3ms, total=518.4ms [env.py: 1075] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.118, -0.198) [env.py: 1079] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.8 deg [env.py: 1082] +05/12 05:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:15:42 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 05:15:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 05:15:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:45 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.727[m] 87.987[deg] [grasp_sample.py: 539] +05/12 05:15:46 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:15:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:15:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:15:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:15:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:15:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:15:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:15:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191512m [env.py: 870] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:15:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.334428 -1.12662424 -0.19151189] yaw=-48.6deg [env.py: 1019] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:15:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=521.5ms, total=521.5ms [env.py: 1075] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -1.127, -0.192) [env.py: 1079] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg [env.py: 1082] +05/12 05:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:15:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:15:48 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 05:15:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 05:15:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:15:50 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.652[m] 78.679[deg] [grasp_sample.py: 539] +05/12 05:15:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:15:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:15:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:15:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:15:58 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:15:59 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:15:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:15:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:15:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:15:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 05:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:00 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.048[m] 0.637[deg] [grasp_sample.py: 539] +05/12 05:16:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:16:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:16:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:16:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:16:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.503s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.508[m] 59.483[deg] [grasp_sample.py: 539] +05/12 05:16:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:16:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:16:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:16:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:16:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:16:17 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 05:16:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:16:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:16:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:16:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 376 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.339s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:22 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.051[m] 1.470[deg] [grasp_sample.py: 539] +05/12 05:16:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:16:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:16:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:26 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:16:26 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=3.89s: + episode_total: mean=18.72s, total=149.74s, count=8, min=216.5ms, max=127035.5ms + sensor_polling: mean=342.6ms, total=102.79s, count=300, min=300.9ms, max=612.2ms + physics_step: mean=22.8ms, total=6.84s, count=300, min=15.1ms, max=61.4ms + task_specific_sample: mean=511.1ms, total=4.09s, count=8, min=213.4ms, max=713.9ms + task_sampling: mean=556.3ms, total=3.89s, count=7, min=414.1ms, max=716.8ms + task_sampling_failed: mean=216.5ms, total=216.5ms, count=1, min=216.5ms, max=216.5ms + scene_randomize: mean=1.1ms, total=8.7ms, count=8, min=1.0ms, max=1.3ms + mj_forward_sync: mean=436.9us, total=3.5ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=14.7us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:16:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:16:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:16:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:16:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:16:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:16:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120781m [env.py: 870] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:16:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5957998 -0.79822023 -0.12078099] yaw=-74.2deg [env.py: 1019] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59561353 -0.92287062 -0.12078099] yaw=-61.4deg [env.py: 1019] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:16:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.3ms, total=214.4ms [env.py: 1075] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.798, -0.121) [env.py: 1079] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.2 deg [env.py: 1082] +05/12 05:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:16:28 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 05:16:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/12 05:16:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:16:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:16:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.60s (batch: 3.40s, save: 9.20s) [pipeline.py: 300] +05/12 05:16:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.356s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:30 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.500[m] 59.921[deg] [grasp_sample.py: 539] +05/12 05:16:30 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=2.11s: + episode_total: mean=40.79s, total=163.16s, count=4, min=229.4ms, max=151756.0ms + sensor_polling: mean=381.4ms, total=101.07s, count=265, min=300.1ms, max=677.1ms + save_trajectories: mean=9.20s, total=9.20s, count=1, min=9200.1ms, max=9200.1ms + physics_step: mean=24.7ms, total=6.56s, count=265, min=14.7ms, max=85.6ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3400.7ms, max=3400.7ms + task_specific_sample: mean=579.7ms, total=2.32s, count=4, min=221.7ms, max=984.1ms + task_sampling: mean=704.6ms, total=2.11s, count=3, min=382.5ms, max=996.2ms + task_sampling_failed: mean=229.4ms, total=229.4ms, count=1, min=229.4ms, max=229.4ms + scene_randomize: mean=1.2ms, total=4.7ms, count=4, min=1.0ms, max=1.3ms + mj_forward_sync: mean=487.1us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:16:31 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:16:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:16:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:16:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:16:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:16:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:16:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129593m [env.py: 870] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:16:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32832155 -0.89817652 -0.12959333] yaw=-51.1deg [env.py: 1019] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:16:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=261.8ms, total=261.8ms [env.py: 1075] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -0.898, -0.130) [env.py: 1079] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:16:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:16:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:16:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:16:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:16:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131790m [env.py: 870] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:16:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51237334 -1.00529777 -0.13178958] yaw=-53.2deg [env.py: 1019] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:16:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:16:32 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:16:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.0ms, total=206.0ms [env.py: 1075] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -1.005, -0.132) [env.py: 1079] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 05:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.167s [base_object_manipulation_planner_policy.py: 377] +05/12 05:16:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:16:33 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 05:16:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:16:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.411s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:16:34 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:16:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:16:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:16:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:16:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:16:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:16:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193344m [env.py: 870] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:16:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60323479 -0.84417043 -0.19334373] yaw=-68.5deg [env.py: 1019] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:16:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=377.8ms, total=377.9ms [env.py: 1075] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.603, -0.844, -0.193) [env.py: 1079] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 05:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:16:36 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 05:16:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:16:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.306s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:38 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.784[m] 96.574[deg] [grasp_sample.py: 539] +05/12 05:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:16:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.965s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:38 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.662[m] 94.634[deg] [grasp_sample.py: 539] +05/12 05:16:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:16:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:39 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:16:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:16:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130080m [env.py: 870] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55780275 -1.0013438 -0.13008016] yaw=-69.5deg [env.py: 1019] +05/12 05:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:16:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.4ms, total=198.5ms [env.py: 1075] +05/12 05:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -1.001, -0.130) [env.py: 1079] +05/12 05:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/12 05:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 05:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:16:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:16:41 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 05:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:16:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:16:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:16:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:16:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.658[m] 91.678[deg] [grasp_sample.py: 539] +05/12 05:16:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:16:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:16:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:16:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:16:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.934s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:16:58 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.691[m] 91.736[deg] [grasp_sample.py: 539] +05/12 05:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:16:59 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:17:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:17:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:17:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:17:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:17:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:17:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118751m [env.py: 870] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:17:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.4ms, total=204.4ms [env.py: 1105] +05/12 05:17:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:17:01 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:17:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:17:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:17:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:17:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:17:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:17:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162751m [env.py: 870] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:17:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.0ms, total=209.0ms [env.py: 1105] +05/12 05:17:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:17:02 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:17:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:17:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:17:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:17:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:17:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:17:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194056m [env.py: 870] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:17:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60516973 -0.95978716 -0.19405569] yaw=-62.6deg [env.py: 1019] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:17:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.6ms, total=217.6ms [env.py: 1075] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.960, -0.194) [env.py: 1079] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 05:17:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:17:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:17:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:17:04 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 05:17:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:17:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:17:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:17:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.708s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:17:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.627[m] 84.773[deg] [grasp_sample.py: 539] +05/12 05:17:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:17:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:17:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:17:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:17:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:17:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:17:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:17:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:17:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:17:13 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.494[m] 64.830[deg] [grasp_sample.py: 539] +05/12 05:17:14 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:17:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:17:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:17:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:17:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:17:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:17:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:17:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170922m [env.py: 870] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:17:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42635072 -0.98893265 -0.17092232] yaw=-53.4deg [env.py: 1019] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:17:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.8ms, total=209.9ms [env.py: 1075] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.989, -0.171) [env.py: 1079] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 05:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:17:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:17:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:17:16 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 05:17:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:17:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:17:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:17:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:17:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.581s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:17:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.686[m] 92.415[deg] [grasp_sample.py: 539] +05/12 05:17:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:17:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:17:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:17:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:17:36 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:17:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:17:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:17:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 401 non-colliding grasps [grasp_sample.py: 465] +05/12 05:17:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.742s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:17:55 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.061[m] 28.727[deg] [grasp_sample.py: 539] +05/12 05:17:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:17:55 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:17:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:17:55 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 05:17:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:17:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:17:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:18:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:18:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:18:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.13s (batch: 2.80s, save: 8.33s) [pipeline.py: 300] +05/12 05:18:07 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=4.59s: + episode_total: mean=19.61s, total=235.28s, count=12, min=213.8ms, max=139094.6ms + sensor_polling: mean=367.8ms, total=149.68s, count=407, min=295.0ms, max=655.7ms + physics_step: mean=24.2ms, total=9.86s, count=407, min=14.7ms, max=64.0ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.6ms, max=8332.6ms + task_specific_sample: mean=521.9ms, total=6.26s, count=12, min=209.1ms, max=876.6ms + task_sampling: mean=655.3ms, total=4.59s, count=7, min=448.1ms, max=879.2ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2798.4ms, max=2798.4ms + task_sampling_failed: mean=342.5ms, total=1.71s, count=5, min=213.7ms, max=568.9ms + scene_randomize: mean=1.3ms, total=15.2ms, count=12, min=0.9ms, max=2.5ms + mj_forward_sync: mean=439.8us, total=5.3ms, count=12, min=0.4ms, max=0.6ms + policy_setup: mean=12.2us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:18:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:18:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:18:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:18:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174125m [env.py: 870] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35972403 -1.09015783 -0.1741251 ] yaw=-45.9deg [env.py: 1019] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50936989 -0.84158872 -0.1741251 ] yaw=-65.8deg [env.py: 1019] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.6ms [env.py: 1075] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.360, -1.090, -0.174) [env.py: 1079] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 05:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:18:08 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 05:18:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 05:18:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:18:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:18:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:18:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:10 INFO: [Worker 0] Object is not in grasp! 0.00104 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:18:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:18:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:18:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:18:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 05:18:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:18:10 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.639[m] 82.244[deg] [grasp_sample.py: 539] +05/12 05:18:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.340s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:18:10 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.405[deg] [grasp_sample.py: 539] +05/12 05:18:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:18:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:18:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:12 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:18:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:18:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136207m [env.py: 870] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=427.0ms, total=427.0ms [env.py: 1105] +05/12 05:18:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:18:13 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:18:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:18:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:18:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:18:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:18:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:18:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100147m [env.py: 870] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:18:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=193.3ms, total=193.4ms [env.py: 1105] +05/12 05:18:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:18:15 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:18:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:18:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:18:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:18:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:18:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:18:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127355m [env.py: 870] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:18:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29803644 -1.03987476 -0.1273553 ] yaw=-46.2deg [env.py: 1019] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.3ms, total=172.3ms [env.py: 1075] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.040, -0.127) [env.py: 1079] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/12 05:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:18:17 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 05:18:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:18:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:18:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:18:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:18:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:18:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.719s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:18:20 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.774[m] 84.708[deg] [grasp_sample.py: 539] +05/12 05:18:21 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:18:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:18:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:18:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:18:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:18:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:18:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:18:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119179m [env.py: 870] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:18:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29663857 -1.15124971 -0.11917943] yaw=-43.4deg [env.py: 1019] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28024955 -1.07909435 -0.11917943] yaw=-49.3deg [env.py: 1019] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:18:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=345.9ms, total=345.9ms [env.py: 1075] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.151, -0.119) [env.py: 1079] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/12 05:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:18:22 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 05:18:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:18:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:18:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:18:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:18:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.596s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:18:26 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.701[m] 76.191[deg] [grasp_sample.py: 539] +05/12 05:18:27 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:18:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:18:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:18:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:18:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:18:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:18:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126544m [env.py: 870] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:18:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3132005 -1.09660687 -0.12654401] yaw=-42.5deg [env.py: 1019] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:18:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.4ms, total=246.4ms [env.py: 1075] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -1.097, -0.127) [env.py: 1079] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/12 05:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:18:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:18:29 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 05:18:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:18:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:18:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:18:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:18:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:18:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:18:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:18:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:18:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 05:18:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.329s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:18:35 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.577[deg] [grasp_sample.py: 539] +05/12 05:18:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:18:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:18:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.025s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:18:35 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.703[m] 86.921[deg] [grasp_sample.py: 539] +05/12 05:18:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:18:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:18:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:18:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:18:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:18:51 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:18:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:19:02 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:19:08 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:19:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:19:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:19:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 05:19:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:19:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:19:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 05:19:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:19:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:19:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:19:27 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 05:19:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:19:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:19:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.27s (batch: 3.60s, save: 9.67s) [pipeline.py: 300] +05/12 05:19:30 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.44s: + episode_total: mean=182.67s, total=182.67s, count=1, min=182668.4ms, max=182668.4ms + sensor_polling: mean=345.0ms, total=103.49s, count=300, min=300.4ms, max=682.2ms + save_trajectories: mean=9.67s, total=9.67s, count=1, min=9671.4ms, max=9671.4ms + physics_step: mean=22.4ms, total=6.73s, count=300, min=15.4ms, max=31.5ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3603.2ms, max=3603.2ms + task_sampling: mean=435.7ms, total=435.7ms, count=1, min=435.7ms, max=435.7ms + task_specific_sample: mean=433.4ms, total=433.4ms, count=1, min=433.4ms, max=433.4ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=418.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:19:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112446m [env.py: 870] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.3ms, total=211.4ms [env.py: 1105] +05/12 05:19:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:19:32 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:19:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143917m [env.py: 870] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46840615 -0.95408977 -0.14391735] yaw=-47.2deg [env.py: 1019] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:19:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.6ms [env.py: 1075] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.954, -0.144) [env.py: 1079] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/12 05:19:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:19:33 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 05:19:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 05:19:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:19:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:19:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:19:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:19:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.566s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:19:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 83.080[deg] [grasp_sample.py: 539] +05/12 05:19:36 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:19:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113794m [env.py: 870] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6499225 -0.98483836 -0.11379436] yaw=-67.9deg [env.py: 1019] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:19:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.2ms [env.py: 1075] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.985, -0.114) [env.py: 1079] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/12 05:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:19:38 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 05:19:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:19:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 05:19:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:19:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:19:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:19:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:19:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:19:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 14.04s (batch: 4.06s, save: 9.98s) [pipeline.py: 300] +05/12 05:19:39 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=1.57s: + episode_total: mean=36.37s, total=181.84s, count=5, min=214.2ms, max=155104.9ms + sensor_polling: mean=350.0ms, total=105.00s, count=300, min=299.0ms, max=632.9ms + save_trajectories: mean=9.98s, total=9.98s, count=1, min=9983.4ms, max=9983.4ms + physics_step: mean=22.8ms, total=6.84s, count=300, min=15.1ms, max=37.5ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4055.4ms, max=4055.4ms + task_specific_sample: mean=396.1ms, total=1.98s, count=5, min=209.5ms, max=587.4ms + task_sampling: mean=522.2ms, total=1.57s, count=3, min=449.9ms, max=590.3ms + task_sampling_failed: mean=265.7ms, total=531.3ms, count=2, min=214.1ms, max=317.2ms + scene_randomize: mean=1.4ms, total=7.1ms, count=5, min=1.0ms, max=2.8ms + mj_forward_sync: mean=493.9us, total=2.5ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=14.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:19:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.839s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:19:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.642[m] 94.578[deg] [grasp_sample.py: 539] +05/12 05:19:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:19:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:19:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:19:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:19:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:19:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:19:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.46s (batch: 3.56s, save: 8.90s) [pipeline.py: 300] +05/12 05:19:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109848m [env.py: 870] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.4ms, total=200.4ms [env.py: 1105] +05/12 05:19:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:19:40 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:19:40 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=7.99s: + episode_total: mean=26.70s, total=560.64s, count=21, min=208.1ms, max=145322.5ms + sensor_polling: mean=367.0ms, total=324.44s, count=884, min=307.6ms, max=674.4ms + physics_step: mean=22.2ms, total=19.61s, count=884, min=14.9ms, max=93.7ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8902.5ms, max=8902.5ms + task_specific_sample: mean=418.3ms, total=8.78s, count=21, min=205.1ms, max=742.8ms + task_sampling: mean=469.9ms, total=7.99s, count=17, min=340.5ms, max=745.0ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3556.5ms, max=3556.5ms + task_sampling_failed: mean=213.7ms, total=854.7ms, count=4, min=208.1ms, max=218.7ms + scene_randomize: mean=1.2ms, total=25.2ms, count=21, min=0.9ms, max=2.7ms + mj_forward_sync: mean=445.0us, total=9.3ms, count=21, min=0.4ms, max=0.6ms + policy_setup: mean=12.2us, total=0.2ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=21, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:19:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135656m [env.py: 870] +05/12 05:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59976489 -0.98426522 -0.13565631] yaw=-64.0deg [env.py: 1019] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:19:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.1ms, total=193.1ms [env.py: 1075] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.984, -0.136) [env.py: 1079] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197051m [env.py: 870] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:19:42 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 05:19:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=188.2ms, total=188.3ms [env.py: 1105] +05/12 05:19:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:19:42 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:19:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 05:19:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:19:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:19:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:19:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:19:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.668[m] 90.086[deg] [grasp_sample.py: 539] +05/12 05:19:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:19:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147084m [env.py: 870] +05/12 05:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:19:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23511322 -0.97513985 -0.14708356] yaw=-54.4deg [env.py: 1019] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:19:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=391.2ms, total=391.3ms [env.py: 1075] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -0.975, -0.147) [env.py: 1079] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 05:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 05:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:19:44 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 05:19:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:19:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 05:19:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:19:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:19:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:19:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.398s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:19:46 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:19:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:19:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:19:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:19:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:19:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:19:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192074m [env.py: 870] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:19:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42242933 -1.11815129 -0.19207426] yaw=-43.9deg [env.py: 1019] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:19:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=208.9ms [env.py: 1075] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -1.118, -0.192) [env.py: 1079] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg [env.py: 1082] +05/12 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:19:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:19:47 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 05:19:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 05:19:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:19:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:19:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:19:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.929s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:19:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.600[m] 75.381[deg] [grasp_sample.py: 539] +05/12 05:19:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:19:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:19:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:19:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:20:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:20:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:20:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.490[m] 67.815[deg] [grasp_sample.py: 539] +05/12 05:20:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:20:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:20:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:20:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:20:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.491s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:20:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 63.723[deg] [grasp_sample.py: 539] +05/12 05:20:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:20:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:20:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:20:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:20:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.789s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:20:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.490[m] 67.353[deg] [grasp_sample.py: 539] +05/12 05:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:19 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:20:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:20:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:20:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187644m [env.py: 870] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48716886 -1.00432432 -0.18764413] yaw=-54.2deg [env.py: 1019] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35085268 -0.81037785 -0.18764413] yaw=-53.7deg [env.py: 1019] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.5ms [env.py: 1075] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -1.004, -0.188) [env.py: 1079] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 05:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:20:21 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 05:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.814s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:20:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.631[m] 86.220[deg] [grasp_sample.py: 539] +05/12 05:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:20:22 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:20:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:20:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:20:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:20:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.944s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:20:25 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 63.725[deg] [grasp_sample.py: 539] +05/12 05:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:20:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:20:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:20:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.560s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:20:39 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 63.725[deg] [grasp_sample.py: 539] +05/12 05:20:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:20:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:20:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:20:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:20:40 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 05:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:20:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:20:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:20:51 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:20:51 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=False episode_total=0.44s: + episode_total: mean=34.93s, total=69.86s, count=2, min=210.7ms, max=69651.6ms + sensor_polling: mean=347.8ms, total=26.09s, count=75, min=308.7ms, max=605.8ms + physics_step: mean=19.7ms, total=1.48s, count=75, min=13.4ms, max=70.1ms + task_specific_sample: mean=324.2ms, total=648.3ms, count=2, min=206.3ms, max=442.1ms + task_sampling: mean=444.6ms, total=444.6ms, count=1, min=444.6ms, max=444.6ms + task_sampling_failed: mean=210.6ms, total=210.6ms, count=1, min=210.6ms, max=210.6ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=433.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:20:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:20:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:20:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.51s (batch: 2.94s, save: 8.57s) [pipeline.py: 300] +05/12 05:20:52 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=1.99s: + episode_total: mean=26.29s, total=157.74s, count=6, min=203.5ms, max=143667.6ms + sensor_polling: mean=349.7ms, total=96.87s, count=277, min=298.5ms, max=698.2ms + save_trajectories: mean=8.57s, total=8.57s, count=1, min=8574.2ms, max=8574.2ms + physics_step: mean=22.7ms, total=6.29s, count=277, min=15.1ms, max=32.1ms + save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2938.1ms, max=2938.1ms + task_specific_sample: mean=436.0ms, total=2.62s, count=6, min=200.1ms, max=559.8ms + task_sampling: mean=498.4ms, total=1.99s, count=4, min=429.3ms, max=561.9ms + task_sampling_failed: mean=320.2ms, total=640.3ms, count=2, min=203.5ms, max=436.8ms + scene_randomize: mean=1.3ms, total=7.8ms, count=6, min=0.9ms, max=2.4ms + mj_forward_sync: mean=443.1us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:20:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:20:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:20:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:20:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:20:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:20:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:20:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136588m [env.py: 870] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:20:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46362145 -0.87190679 -0.13658825] yaw=-59.3deg [env.py: 1019] +05/12 05:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:20:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.7ms [env.py: 1075] +05/12 05:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.872, -0.137) [env.py: 1079] +05/12 05:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 05:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 05:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:20:53 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 05:20:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:20:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:20:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:20:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:20:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:20:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:20:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120812m [env.py: 870] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:20:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=188.0ms, total=188.0ms [env.py: 1105] +05/12 05:20:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:20:54 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:20:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:20:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:20:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:20:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:20:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:20:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100358m [env.py: 870] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:20:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31320769 -0.9377317 -0.1003582 ] yaw=-59.3deg [env.py: 1019] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46384552 -1.07301564 -0.1003582 ] yaw=-50.6deg [env.py: 1019] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:20:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.6ms, total=174.6ms [env.py: 1075] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.938, -0.100) [env.py: 1079] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 05:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:20:56 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 05:20:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 05:20:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:20:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:20:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:20:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.759s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:20:57 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.756[m] 73.215[deg] [grasp_sample.py: 539] +05/12 05:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:20:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:20:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:20:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.411s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:20:57 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:20:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:20:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:20:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:20:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:20:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:20:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:20:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:20:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148828m [env.py: 870] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:20:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:20:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=233.5ms, total=233.6ms [env.py: 1105] +05/12 05:20:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:20:59 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:21:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:21:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:21:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:21:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:21:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:21:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:21:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190979m [env.py: 870] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:21:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65181857 -0.88447648 -0.1909789 ] yaw=-72.8deg [env.py: 1019] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:21:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.8ms [env.py: 1075] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.652, -0.884, -0.191) [env.py: 1079] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg [env.py: 1082] +05/12 05:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:21:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:21:01 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 05:21:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:21:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:21:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:21:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:21:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.654s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:21:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.666[m] 90.778[deg] [grasp_sample.py: 539] +05/12 05:21:04 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:21:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:21:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:21:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:21:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:21:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:21:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:21:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107194m [env.py: 870] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:21:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49174587 -0.87684718 -0.10719445] yaw=-69.0deg [env.py: 1019] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:21:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.0ms, total=205.1ms [env.py: 1075] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -0.877, -0.107) [env.py: 1079] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.0 deg [env.py: 1082] +05/12 05:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:21:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:21:06 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 05:21:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:21:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:21:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:21:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:21:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.536s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:21:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.752[m] 78.594[deg] [grasp_sample.py: 539] +05/12 05:21:09 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:21:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:21:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:21:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:21:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:21:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:21:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:21:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180769m [env.py: 870] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:21:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61613822 -0.91995766 -0.18076915] yaw=-64.6deg [env.py: 1019] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:21:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.4ms [env.py: 1075] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.920, -0.181) [env.py: 1079] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 05:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:21:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:21:11 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 05:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:21:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:21:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:21:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:21:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:21:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.655[m] 89.065[deg] [grasp_sample.py: 539] +05/12 05:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:21:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:21:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:31 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:21:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:21:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:21:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:21:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 340 non-colliding grasps [grasp_sample.py: 465] +05/12 05:21:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:21:32 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.036[m] 1.699[deg] [grasp_sample.py: 539] +05/12 05:21:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:21:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:21:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:21:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:21:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:21:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:21:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:21:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.386s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:21:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.525[m] 66.364[deg] [grasp_sample.py: 539] +05/12 05:21:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:21:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:21:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:40 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:21:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:21:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:21:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:21:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:21:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.525[m] 66.364[deg] [grasp_sample.py: 539] +05/12 05:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:21:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:21:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:21:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:21:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:21:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:21:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:01 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:22:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:22:01 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 05:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:22:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:22:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.525[m] 66.364[deg] [grasp_sample.py: 539] +05/12 05:22:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:22:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:22:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:22:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.919s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:05 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.142[m] 15.054[deg] [grasp_sample.py: 539] +05/12 05:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:22:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:22:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:22:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:22:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.46s (batch: 3.35s, save: 8.11s) [pipeline.py: 300] +05/12 05:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:13 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=1.06s: + episode_total: mean=49.51s, total=148.53s, count=3, min=198.4ms, max=146116.0ms + sensor_polling: mean=391.0ms, total=99.71s, count=255, min=312.9ms, max=607.4ms + save_trajectories: mean=8.11s, total=8.11s, count=1, min=8112.8ms, max=8112.8ms + physics_step: mean=23.7ms, total=6.04s, count=255, min=19.9ms, max=30.1ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3347.4ms, max=3347.4ms + task_specific_sample: mean=415.9ms, total=1.25s, count=3, min=194.2ms, max=628.7ms + task_sampling: mean=529.4ms, total=1.06s, count=2, min=427.3ms, max=631.5ms + task_sampling_failed: mean=198.3ms, total=198.3ms, count=1, min=198.3ms, max=198.3ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=443.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:22:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:22:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:22:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:22:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:22:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:22:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:22:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:22:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139124m [env.py: 870] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:22:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55484319 -1.02354779 -0.13912412] yaw=-62.4deg [env.py: 1019] +05/12 05:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48127308 -0.95385436 -0.13912412] yaw=-52.7deg [env.py: 1019] +05/12 05:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:22:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.0ms, total=218.0ms [env.py: 1075] +05/12 05:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -1.024, -0.139) [env.py: 1079] +05/12 05:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/12 05:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 05:22:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:22:15 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 05:22:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:22:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:22:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 05:22:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:15 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:22:15 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=False episode_total=1.65s: + episode_total: mean=12.50s, total=74.99s, count=6, min=202.2ms, max=65026.1ms + sensor_polling: mean=323.4ms, total=22.32s, count=69, min=295.1ms, max=622.7ms + task_specific_sample: mean=345.9ms, total=2.08s, count=6, min=196.8ms, max=425.5ms + task_sampling: mean=412.3ms, total=1.65s, count=4, min=385.6ms, max=427.5ms + physics_step: mean=18.0ms, total=1.24s, count=69, min=13.0ms, max=29.2ms + task_sampling_failed: mean=221.8ms, total=443.6ms, count=2, min=202.2ms, max=241.4ms + scene_randomize: mean=1.2ms, total=7.3ms, count=6, min=0.9ms, max=2.6ms + mj_forward_sync: mean=390.6us, total=2.3ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:22:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.742s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.641[m] 84.192[deg] [grasp_sample.py: 539] +05/12 05:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:22:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:22:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:22:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:22:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104970m [env.py: 870] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58474615 -0.7846853 -0.10496975] yaw=-79.8deg [env.py: 1019] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18135308 -1.14724078 -0.10496975] yaw=-41.2deg [env.py: 1019] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.785, -0.105) [env.py: 1079] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.8 deg [env.py: 1082] +05/12 05:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:17 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:22:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:22:17 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 05:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 05:22:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:22:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:22:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:22:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:22:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:22:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162082m [env.py: 870] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:22:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2194971 -1.16886645 -0.16208155] yaw=-40.6deg [env.py: 1019] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.273s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:22:18 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:22:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=181.1ms, total=181.1ms [env.py: 1075] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.169, -0.162) [env.py: 1079] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 05:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:22:19 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 05:22:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 05:22:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:22:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:22:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:22:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:22:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:22:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188805m [env.py: 870] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:22:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19089716 -0.97890979 -0.18880511] yaw=-43.5deg [env.py: 1019] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:22:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=465.0ms, total=465.1ms [env.py: 1075] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -0.979, -0.189) [env.py: 1079] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/12 05:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:20 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 77.129[deg] [grasp_sample.py: 539] +05/12 05:22:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:22:20 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 05:22:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:22:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:22:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:22:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:22:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:22:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:22:22 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:22:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:22:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:22:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:22:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:22:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:22:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196080m [env.py: 870] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:22:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58312857 -0.90729679 -0.1960798 ] yaw=-69.7deg [env.py: 1019] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=243.9ms, total=243.9ms [env.py: 1075] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.907, -0.196) [env.py: 1079] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg [env.py: 1082] +05/12 05:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:22:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:22:24 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 05:22:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:22:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:25 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.677[m] 92.259[deg] [grasp_sample.py: 539] +05/12 05:22:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:22:25 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:22:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:22:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:22:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:32 INFO: [Worker 0] Feasible grasp found 619 (originally 619): w/ 0.227[m] 20.076[deg] [grasp_sample.py: 539] +05/12 05:22:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:22:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:22:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:22:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:46 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:22:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:22:46 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 05:22:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:22:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:22:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:22:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:22:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:22:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.315s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:54 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.260[m] 17.006[deg] [grasp_sample.py: 539] +05/12 05:22:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:22:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:22:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:22:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.251s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:22:55 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.531[m] 66.862[deg] [grasp_sample.py: 539] +05/12 05:22:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:22:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:22:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:22:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:22:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.81s (batch: 3.43s, save: 9.38s) [pipeline.py: 300] +05/12 05:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:22:59 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=1.14s: + episode_total: mean=50.87s, total=203.48s, count=4, min=222.8ms, max=158594.8ms + sensor_polling: mean=349.7ms, total=123.46s, count=353, min=300.8ms, max=693.0ms + save_trajectories: mean=9.38s, total=9.38s, count=1, min=9380.3ms, max=9380.3ms + physics_step: mean=22.6ms, total=7.97s, count=353, min=13.5ms, max=33.6ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3431.4ms, max=3431.4ms + task_specific_sample: mean=338.8ms, total=1.36s, count=4, min=217.0ms, max=415.1ms + task_sampling: mean=381.7ms, total=1.14s, count=3, min=347.1ms, max=417.4ms + task_sampling_failed: mean=222.8ms, total=222.8ms, count=1, min=222.8ms, max=222.8ms + scene_randomize: mean=1.4ms, total=5.4ms, count=4, min=0.9ms, max=2.4ms + mj_forward_sync: mean=398.7us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142084m [env.py: 870] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.2ms, total=186.2ms [env.py: 1105] +05/12 05:23:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:23:00 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154484m [env.py: 870] +05/12 05:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43958804 -0.83480564 -0.15448443] yaw=-64.1deg [env.py: 1019] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48472919 -1.02156102 -0.15448443] yaw=-62.3deg [env.py: 1019] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.513982 -0.90722218 -0.15448443] yaw=-65.3deg [env.py: 1019] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=521.6ms, total=521.7ms [env.py: 1075] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.835, -0.154) [env.py: 1079] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 05:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 05:23:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:02 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:23:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:23:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.964s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.503[m] 64.810[deg] [grasp_sample.py: 539] +05/12 05:23:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:10 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:23:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:23:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:23:11 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:23:11 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=False episode_total=0.40s: + episode_total: mean=138.50s, total=138.50s, count=1, min=138496.5ms, max=138496.5ms + sensor_polling: mean=329.9ms, total=58.07s, count=176, min=296.6ms, max=591.2ms + physics_step: mean=21.1ms, total=3.71s, count=176, min=15.0ms, max=57.8ms + task_sampling: mean=399.6ms, total=399.6ms, count=1, min=399.6ms, max=399.6ms + task_specific_sample: mean=397.3ms, total=397.3ms, count=1, min=397.3ms, max=397.3ms + scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=428.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:23:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:11 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198350m [env.py: 870] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18826605 -1.04295057 -0.19835049] yaw=-49.3deg [env.py: 1019] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=215.6ms, total=215.7ms [env.py: 1075] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -1.043, -0.198) [env.py: 1079] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/12 05:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:13 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135435m [env.py: 870] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22935275 -1.10375668 -0.1354351 ] yaw=-48.8deg [env.py: 1019] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58014218 -0.72948535 -0.1354351 ] yaw=-60.1deg [env.py: 1019] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30021308 -0.867949 -0.1354351 ] yaw=-52.0deg [env.py: 1019] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.2ms, total=192.2ms [env.py: 1075] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.104, -0.135) [env.py: 1079] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg [env.py: 1082] +05/12 05:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:13 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.654s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:18 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.735[m] 81.690[deg] [grasp_sample.py: 539] +05/12 05:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.161s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:19 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.738[m] 90.956[deg] [grasp_sample.py: 539] +05/12 05:23:19 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:23:20 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133131m [env.py: 870] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.4ms, total=190.4ms [env.py: 1105] +05/12 05:23:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:23:21 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:23:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176636m [env.py: 870] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:23:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:23:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142237m [env.py: 870] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22782135 -0.98340627 -0.14223705] yaw=-55.9deg [env.py: 1019] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22415204 -0.93357075 -0.14223705] yaw=-58.6deg [env.py: 1019] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46077353 -0.94568519 -0.14223705] yaw=-59.3deg [env.py: 1019] +05/12 05:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=886.1ms, total=886.2ms [env.py: 1105] +05/12 05:23:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:23:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.314s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=239.3ms, total=239.3ms [env.py: 1075] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -0.983, -0.142) [env.py: 1079] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/12 05:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:22 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:23:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:23 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163285m [env.py: 870] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:23:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=239.1ms, total=239.1ms [env.py: 1105] +05/12 05:23:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:23:24 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:23:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.898s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.503[m] 63.771[deg] [grasp_sample.py: 539] +05/12 05:23:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.780s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:23:25 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:23:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196788m [env.py: 870] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:25 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1105] +05/12 05:23:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:23:26 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:23:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101019m [env.py: 870] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.63741006 -0.84652068 -0.10101895] yaw=-80.8deg [env.py: 1019] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=369.0ms, total=369.1ms [env.py: 1075] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.637, -0.847, -0.101) [env.py: 1079] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.8 deg [env.py: 1082] +05/12 05:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:26 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124219m [env.py: 870] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102882m [env.py: 870] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27289791 -1.1029165 -0.1028816 ] yaw=-38.3deg [env.py: 1019] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=234.1ms, total=234.1ms [env.py: 1105] +05/12 05:23:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:23:27 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12879015 -1.03322223 -0.1028816 ] yaw=-29.8deg [env.py: 1019] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=315.3ms, total=315.4ms [env.py: 1075] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -1.103, -0.103) [env.py: 1079] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg [env.py: 1082] +05/12 05:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:27 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:23:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:29 INFO: [Worker 0] Feasible grasp found 887 (originally 223): w/ 0.780[m] 92.889[deg] [grasp_sample.py: 539] +05/12 05:23:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180114m [env.py: 870] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39117737 -1.01224726 -0.18011449] yaw=-62.8deg [env.py: 1019] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1075] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -1.012, -0.180) [env.py: 1079] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/12 05:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:29 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:30 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:23:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138598m [env.py: 870] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55797187 -0.96117909 -0.13859828] yaw=-53.8deg [env.py: 1019] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.4ms, total=194.5ms [env.py: 1075] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.961, -0.139) [env.py: 1079] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 05:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:32 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.672s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:36 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.717[m] 84.582[deg] [grasp_sample.py: 539] +05/12 05:23:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:23:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:23:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:23:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:23:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.779s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:38 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.692[m] 97.039[deg] [grasp_sample.py: 539] +05/12 05:23:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:23:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:23:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:23:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:23:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.690s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:23:41 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.663[m] 87.208[deg] [grasp_sample.py: 539] +05/12 05:23:42 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:23:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169106m [env.py: 870] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=381.1ms, total=381.1ms [env.py: 1105] +05/12 05:23:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:23:44 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:23:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:23:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137086m [env.py: 870] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55990674 -0.83402404 -0.1370863 ] yaw=-69.8deg [env.py: 1019] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.6ms, total=232.6ms [env.py: 1075] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.560, -0.834, -0.137) [env.py: 1079] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg [env.py: 1082] +05/12 05:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:23:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:23:45 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 05:23:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:23:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:23:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:23:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.154s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:24:05 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.753[m] 102.122[deg] [grasp_sample.py: 539] +05/12 05:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:24:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:24:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:24:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:24:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:24:06 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:24:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:24:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:24:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.514[m] 63.899[deg] [grasp_sample.py: 539] +05/12 05:24:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:24:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:24:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:24:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:24:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:24:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129634m [env.py: 870] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:24:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=351.0ms, total=351.0ms [env.py: 1105] +05/12 05:24:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:24:08 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:24:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:24:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:24:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:24:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:24:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:24:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:24:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:24:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:24:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194747m [env.py: 870] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:24:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43387188 -0.88762897 -0.19474658] yaw=-58.8deg [env.py: 1019] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:24:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=497.2ms, total=497.2ms [env.py: 1075] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -0.888, -0.195) [env.py: 1079] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/12 05:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:24:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:24:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:24:10 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 05:24:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 05:24:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:24:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:24:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:24:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.760[m] 91.836[deg] [grasp_sample.py: 539] +05/12 05:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:24:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:24:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:24:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:24:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:18 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:24:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:24:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:24:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:24:39 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:24:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:24:39 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 05:24:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:24:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:24:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:24:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.19s (batch: 3.37s, save: 8.82s) [pipeline.py: 300] +05/12 05:24:52 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.83s: + episode_total: mean=78.25s, total=156.49s, count=2, min=2558.6ms, max=153935.8ms + sensor_polling: mean=397.6ms, total=108.54s, count=273, min=323.6ms, max=793.8ms + save_trajectories: mean=8.82s, total=8.82s, count=1, min=8822.8ms, max=8822.8ms + physics_step: mean=24.1ms, total=6.58s, count=273, min=19.7ms, max=103.6ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3371.5ms, max=3371.5ms + task_sampling: mean=417.3ms, total=834.6ms, count=2, min=361.1ms, max=473.5ms + task_specific_sample: mean=413.3ms, total=826.7ms, count=2, min=356.4ms, max=470.3ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.6ms, max=2.0ms + mj_forward_sync: mean=376.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:24:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:24:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:24:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:24:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:24:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:24:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:24:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:24:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:24:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126589m [env.py: 870] +05/12 05:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:24:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.5ms, total=171.6ms [env.py: 1105] +05/12 05:24:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:24:54 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:24:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:24:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:24:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:24:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:24:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:24:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:24:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:24:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113581m [env.py: 870] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:24:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3881423 -0.96778078 -0.11358131] yaw=-61.7deg [env.py: 1019] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27680395 -0.99954387 -0.11358131] yaw=-40.7deg [env.py: 1019] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.8ms, total=201.9ms [env.py: 1075] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -0.968, -0.114) [env.py: 1079] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg [env.py: 1082] +05/12 05:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:24:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:24:55 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 05:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 05:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:24:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:24:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:24:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.618s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:24:58 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.743[m] 83.977[deg] [grasp_sample.py: 539] +05/12 05:24:59 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:25:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:25:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:25:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:25:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:25:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:25:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123884m [env.py: 870] +05/12 05:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:25:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=657.0ms, total=657.0ms [env.py: 1105] +05/12 05:25:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:25:01 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:25:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:25:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:25:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:25:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:25:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:25:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134892m [env.py: 870] +05/12 05:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:25:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=366.7ms, total=366.7ms [env.py: 1105] +05/12 05:25:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:25:03 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:25:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:25:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:25:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:25:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:25:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:25:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193332m [env.py: 870] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:25:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.9ms, total=200.9ms [env.py: 1105] +05/12 05:25:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:25:04 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:25:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:25:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:25:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:25:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:25:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193922m [env.py: 870] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:25:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2979596 -1.08433072 -0.19392175] yaw=-40.2deg [env.py: 1019] +05/12 05:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:25:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=306.7ms, total=306.7ms [env.py: 1075] +05/12 05:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.084, -0.194) [env.py: 1079] +05/12 05:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/12 05:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 05:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:25:06 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 05:25:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 05:25:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:25:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:25:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:25:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.902s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:25:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.676[m] 85.781[deg] [grasp_sample.py: 539] +05/12 05:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:10 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:25:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:25:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:25:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:25:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:25:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 344 non-colliding grasps [grasp_sample.py: 465] +05/12 05:25:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:25:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:25:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:25:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:25:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:25:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118288m [env.py: 870] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:25:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61633754 -0.85754422 -0.11828811] yaw=-73.6deg [env.py: 1019] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66275452 -0.89396266 -0.11828811] yaw=-71.1deg [env.py: 1019] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:25:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=215.6ms, total=215.7ms [env.py: 1075] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.858, -0.118) [env.py: 1079] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg [env.py: 1082] +05/12 05:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:25:12 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 05:25:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:25:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:25:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:25:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:25:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.761s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:25:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.759[m] 93.062[deg] [grasp_sample.py: 539] +05/12 05:25:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:25:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:25:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:25:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:25:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:25:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.359s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:25:22 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.047[m] 2.506[deg] [grasp_sample.py: 539] +05/12 05:25:24 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:25:25 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:25:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:25:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:25:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:25:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:25:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:25:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194187m [env.py: 870] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:25:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=486.5ms, total=486.6ms [env.py: 1105] +05/12 05:25:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:25:26 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:25:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:25:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:25:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:25:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:25:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:25:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:25:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:25:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:25:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199300m [env.py: 870] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:25:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:25:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=340.7ms, total=340.8ms [env.py: 1105] +05/12 05:25:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:25:28 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:25:29 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:25:29 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:25:29 INFO: [Worker 0] Worker 0 completed house 1: 9/13 successful episodes [pipeline.py: 1323] +05/12 05:25:29 INFO: [Worker 0] [PROFILE] House 1 complete: 9/13 successful, 13 episodes, total_time=3547.56s + House averages: + episode_total: mean=29.12s, total=2096.80s, count=72, min=174.2ms, max=182668.4ms + sensor_polling: mean=347.8ms, total=1186.44s, count=3411, min=294.2ms, max=721.9ms + save_trajectories: mean=9.39s, total=84.50s, count=9, min=8785.5ms, max=10031.7ms + physics_step: mean=22.5ms, total=76.78s, count=3411, min=13.1ms, max=124.9ms + task_specific_sample: mean=429.9ms, total=30.95s, count=72, min=171.5ms, max=1089.1ms + save_batch_prep: mean=3.43s, total=30.91s, count=9, min=3035.4ms, max=3874.1ms + task_sampling: mean=499.8ms, total=23.99s, count=48, min=347.1ms, max=1092.6ms + task_sampling_failed: mean=419.8ms, total=10.07s, count=24, min=174.2ms, max=3314.5ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2888.6ms, max=2888.6ms + scene_env_create: mean=1.62s, total=1.62s, count=1, min=1615.2ms, max=1615.2ms + scene_compile: mean=1.13s, total=1.13s, count=1, min=1134.8ms, max=1134.8ms + compile_mujoco: mean=668.3ms, total=668.3ms, count=1, min=668.3ms, max=668.3ms + compile_xml_load: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms + scene_init: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms + scene_randomize: mean=1.2ms, total=88.4ms, count=72, min=0.9ms, max=2.4ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + mj_forward_sync: mean=434.2us, total=31.3ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms + asset_install_objects: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=15.5us, total=0.7ms, count=48, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 05:25:30 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 05:25:30 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=3547.56s + Worker averages: + episode_total: mean=29.12s, total=2096.80s, count=72, min=174.2ms, max=182668.4ms + sensor_polling: mean=347.8ms, total=1186.44s, count=3411, min=294.2ms, max=721.9ms + save_trajectories: mean=9.39s, total=84.50s, count=9, min=8785.5ms, max=10031.7ms + physics_step: mean=22.5ms, total=76.78s, count=3411, min=13.1ms, max=124.9ms + task_specific_sample: mean=429.9ms, total=30.95s, count=72, min=171.5ms, max=1089.1ms + save_batch_prep: mean=3.43s, total=30.91s, count=9, min=3035.4ms, max=3874.1ms + task_sampling: mean=499.8ms, total=23.99s, count=48, min=347.1ms, max=1092.6ms + task_sampling_failed: mean=419.8ms, total=10.07s, count=24, min=174.2ms, max=3314.5ms + scene_load: mean=2.89s, total=2.89s, count=1, min=2888.6ms, max=2888.6ms + scene_env_create: mean=1.62s, total=1.62s, count=1, min=1615.2ms, max=1615.2ms + scene_compile: mean=1.13s, total=1.13s, count=1, min=1134.8ms, max=1134.8ms + compile_mujoco: mean=668.3ms, total=668.3ms, count=1, min=668.3ms, max=668.3ms + compile_xml_load: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms + scene_init: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms + scene_randomize: mean=1.2ms, total=88.4ms, count=72, min=0.9ms, max=2.4ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + mj_forward_sync: mean=434.2us, total=31.3ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + compile_robot_add: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms + asset_install_objects: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=15.5us, total=0.7ms, count=48, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 05:25:33 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 05:25:33 INFO: Success count: 9, Total count: 13 [pipeline.py: 1491] +05/12 05:25:33 INFO: Success rate: 69.23% [pipeline.py: 1492] +05/12 05:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:25:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:25:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:25:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:25:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:25:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.766s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:25:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.579[m] 65.262[deg] [grasp_sample.py: 539] +05/12 05:25:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:25:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:25:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:25:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:47 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:25:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:25:47 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 05:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:25:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:25:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:25:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:25:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:25:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:25:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.168s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:25:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.579[m] 65.265[deg] [grasp_sample.py: 539] +05/12 05:25:59 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:26:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:26:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:26:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.27s (batch: 3.25s, save: 9.02s) [pipeline.py: 300] +05/12 05:26:00 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.99s: + episode_total: mean=32.53s, total=162.64s, count=5, min=213.3ms, max=153411.7ms + sensor_polling: mean=354.5ms, total=99.26s, count=280, min=299.2ms, max=642.6ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9022.8ms, max=9022.8ms + physics_step: mean=23.5ms, total=6.57s, count=280, min=15.0ms, max=58.4ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3250.0ms, max=3250.0ms + task_specific_sample: mean=466.8ms, total=2.33s, count=5, min=210.3ms, max=891.2ms + task_sampling_failed: mean=458.6ms, total=1.38s, count=3, min=213.3ms, max=915.1ms + task_sampling: mean=497.2ms, total=994.4ms, count=2, min=454.3ms, max=540.1ms + scene_randomize: mean=1.3ms, total=6.4ms, count=5, min=1.1ms, max=1.6ms + mj_forward_sync: mean=516.6us, total=2.6ms, count=5, min=0.4ms, max=0.8ms + policy_setup: mean=12.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:26:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150208m [env.py: 870] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=205.1ms, total=205.2ms [env.py: 1105] +05/12 05:26:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:26:01 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:26:01 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174785m [env.py: 870] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178181m [env.py: 870] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1105] +05/12 05:26:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:26:02 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=460.0ms, total=460.0ms [env.py: 1105] +05/12 05:26:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:26:02 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:26:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177398m [env.py: 870] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22770807 -1.18432681 -0.17739807] yaw=-47.6deg [env.py: 1019] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:26:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.5ms, total=224.6ms [env.py: 1075] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -1.184, -0.177) [env.py: 1079] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/12 05:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104432m [env.py: 870] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:26:04 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18043764 -1.07363092 -0.1044317 ] yaw=-47.9deg [env.py: 1019] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/12 05:26:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:26:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:26:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=217.4ms, total=217.5ms [env.py: 1075] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.074, -0.104) [env.py: 1079] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 05:26:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:26:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:26:04 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 05:26:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 05:26:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:26:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:26:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:26:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.102s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:26:06 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:26:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.058s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:26:07 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.720[m] 83.006[deg] [grasp_sample.py: 539] +05/12 05:26:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194590m [env.py: 870] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19662558 -1.16067584 -0.19459046] yaw=-38.9deg [env.py: 1019] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46658755 -1.08743943 -0.19459046] yaw=-54.0deg [env.py: 1019] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:26:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.4ms, total=240.4ms [env.py: 1075] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.161, -0.195) [env.py: 1079] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg [env.py: 1082] +05/12 05:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:26:08 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 05:26:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:26:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:26:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:26:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:26:08 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:26:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124515m [env.py: 870] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37019091 -0.97481065 -0.12451467] yaw=-49.1deg [env.py: 1019] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48864956 -0.9031663 -0.12451467] yaw=-58.9deg [env.py: 1019] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:26:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.4ms [env.py: 1075] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -0.975, -0.125) [env.py: 1079] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 05:26:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:26:10 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 05:26:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 05:26:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:26:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:26:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:26:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.285s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:26:12 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.740[m] 88.997[deg] [grasp_sample.py: 539] +05/12 05:26:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:26:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:26:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:26:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:26:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:26:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:26:20 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 05:26:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.562s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:26:21 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.779[m] 83.113[deg] [grasp_sample.py: 539] +05/12 05:26:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:26:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:26:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:26:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:26:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:26:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:26:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.39s (batch: 2.88s, save: 8.51s) [pipeline.py: 300] +05/12 05:26:32 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=3.18s: + episode_total: mean=27.18s, total=244.63s, count=9, min=243.7ms, max=143084.2ms + sensor_polling: mean=342.3ms, total=120.83s, count=353, min=293.5ms, max=771.1ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8505.1ms, max=8505.1ms + physics_step: mean=21.8ms, total=7.70s, count=353, min=13.1ms, max=73.9ms + task_specific_sample: mean=461.3ms, total=4.15s, count=9, min=239.7ms, max=706.1ms + task_sampling: mean=530.8ms, total=3.18s, count=6, min=412.9ms, max=708.9ms + save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2880.0ms, max=2880.0ms + task_sampling_failed: mean=331.6ms, total=994.8ms, count=3, min=243.7ms, max=388.9ms + scene_randomize: mean=1.2ms, total=10.4ms, count=9, min=0.9ms, max=1.7ms + mj_forward_sync: mean=381.1us, total=3.4ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:26:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:26:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:26:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:26:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:26:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:26:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154232m [env.py: 870] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:26:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:26:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=210.0ms, total=210.1ms [env.py: 1105] +05/12 05:26:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:26:33 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:26:35 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:26:35 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:26:35 INFO: [Worker 0] Worker 0 completed house 1: 8/12 successful episodes [pipeline.py: 1323] +05/12 05:26:35 INFO: [Worker 0] [PROFILE] House 1 complete: 8/12 successful, 12 episodes, total_time=3738.20s + House averages: + episode_total: mean=29.98s, total=2158.50s, count=72, min=170.9ms, max=151295.0ms + sensor_polling: mean=350.6ms, total=1325.09s, count=3779, min=292.6ms, max=987.9ms + physics_step: mean=22.8ms, total=86.30s, count=3779, min=13.0ms, max=83.7ms + save_trajectories: mean=8.99s, total=71.94s, count=8, min=8184.6ms, max=10712.2ms + task_specific_sample: mean=437.6ms, total=31.51s, count=72, min=167.7ms, max=876.6ms + save_batch_prep: mean=3.03s, total=24.21s, count=8, min=2798.4ms, max=3462.6ms + task_sampling: mean=530.8ms, total=23.36s, count=44, min=385.6ms, max=879.2ms + task_sampling_failed: mean=391.8ms, total=10.97s, count=28, min=170.9ms, max=3319.4ms + scene_load: mean=2.60s, total=2.60s, count=1, min=2602.9ms, max=2602.9ms + scene_env_create: mean=1.56s, total=1.56s, count=1, min=1563.5ms, max=1563.5ms + scene_compile: mean=899.0ms, total=899.0ms, count=1, min=899.0ms, max=899.0ms + compile_mujoco: mean=610.2ms, total=610.2ms, count=1, min=610.2ms, max=610.2ms + compile_xml_load: mean=206.8ms, total=206.8ms, count=1, min=206.8ms, max=206.8ms + scene_init: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms + scene_randomize: mean=1.2ms, total=89.5ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_policy_objects: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + mj_forward_sync: mean=418.9us, total=30.2ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=13.9us, total=0.6ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 05:26:35 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 05:26:35 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=3738.20s + Worker averages: + episode_total: mean=29.98s, total=2158.50s, count=72, min=170.9ms, max=151295.0ms + sensor_polling: mean=350.6ms, total=1325.09s, count=3779, min=292.6ms, max=987.9ms + physics_step: mean=22.8ms, total=86.30s, count=3779, min=13.0ms, max=83.7ms + save_trajectories: mean=8.99s, total=71.94s, count=8, min=8184.6ms, max=10712.2ms + task_specific_sample: mean=437.6ms, total=31.51s, count=72, min=167.7ms, max=876.6ms + save_batch_prep: mean=3.03s, total=24.21s, count=8, min=2798.4ms, max=3462.6ms + task_sampling: mean=530.8ms, total=23.36s, count=44, min=385.6ms, max=879.2ms + task_sampling_failed: mean=391.8ms, total=10.97s, count=28, min=170.9ms, max=3319.4ms + scene_load: mean=2.60s, total=2.60s, count=1, min=2602.9ms, max=2602.9ms + scene_env_create: mean=1.56s, total=1.56s, count=1, min=1563.5ms, max=1563.5ms + scene_compile: mean=899.0ms, total=899.0ms, count=1, min=899.0ms, max=899.0ms + compile_mujoco: mean=610.2ms, total=610.2ms, count=1, min=610.2ms, max=610.2ms + compile_xml_load: mean=206.8ms, total=206.8ms, count=1, min=206.8ms, max=206.8ms + scene_init: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms + scene_randomize: mean=1.2ms, total=89.5ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_policy_objects: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + mj_forward_sync: mean=418.9us, total=30.2ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=13.9us, total=0.6ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 05:26:37 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 05:26:37 INFO: Success count: 8, Total count: 12 [pipeline.py: 1491] +05/12 05:26:37 INFO: Success rate: 66.67% [pipeline.py: 1492] +05/12 05:27:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:27:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:27:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:27:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:27:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:27:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:27:29 INFO: [Worker 0] Object is not in grasp! 0.00083 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:27:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:27:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:27:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:27:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 05:27:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.949s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:27:31 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.048[m] 0.827[deg] [grasp_sample.py: 539] +05/12 05:27:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:27:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:27:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:27:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:27:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:27:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:28:04 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:28:12 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:28:24 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:28:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:28:24 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 05:28:33 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:28:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:28:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 05:28:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:28:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:28:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 12.98s (batch: 3.47s, save: 9.51s) [pipeline.py: 300] +05/12 05:28:38 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.95s: + episode_total: mean=51.21s, total=153.62s, count=3, min=218.4ms, max=148161.7ms + sensor_polling: mean=317.8ms, total=92.79s, count=292, min=294.6ms, max=519.3ms + save_trajectories: mean=9.51s, total=9.51s, count=1, min=9514.3ms, max=9514.3ms + physics_step: mean=20.7ms, total=6.05s, count=292, min=14.7ms, max=24.5ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3469.5ms, max=3469.5ms + task_specific_sample: mean=385.9ms, total=1.16s, count=3, min=214.0ms, max=528.6ms + task_sampling: mean=474.6ms, total=949.2ms, count=2, min=417.5ms, max=531.7ms + task_sampling_failed: mean=218.4ms, total=218.4ms, count=1, min=218.4ms, max=218.4ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=486.4us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:28:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:28:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:28:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:28:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:28:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:28:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:28:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156094m [env.py: 870] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:28:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49642605 -0.90453831 -0.15609445] yaw=-58.4deg [env.py: 1019] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:28:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=215.0ms [env.py: 1075] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.905, -0.156) [env.py: 1079] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg [env.py: 1082] +05/12 05:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:28:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:28:40 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 05:28:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 05:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:28:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:28:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:28:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:28:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:28:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 13.12s (batch: 3.34s, save: 9.78s) [pipeline.py: 300] +05/12 05:28:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.430s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:28:46 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.742[m] 100.763[deg] [grasp_sample.py: 539] +05/12 05:28:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:28:46 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=2.35s: + episode_total: mean=20.06s, total=220.63s, count=11, min=182.6ms, max=158878.6ms + sensor_polling: mean=358.5ms, total=129.79s, count=362, min=315.1ms, max=592.2ms + save_trajectories: mean=9.78s, total=9.78s, count=1, min=9780.6ms, max=9780.6ms + physics_step: mean=21.4ms, total=7.75s, count=362, min=13.3ms, max=29.1ms + task_specific_sample: mean=402.3ms, total=4.43s, count=11, min=177.3ms, max=661.8ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3337.1ms, max=3337.1ms + task_sampling: mean=469.2ms, total=2.35s, count=5, min=437.1ms, max=529.1ms + task_sampling_failed: mean=352.3ms, total=2.11s, count=6, min=182.6ms, max=665.1ms + scene_randomize: mean=1.2ms, total=13.5ms, count=11, min=0.9ms, max=2.7ms + mj_forward_sync: mean=431.0us, total=4.7ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=11.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:28:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:28:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:28:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:28:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:28:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:28:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:28:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:28:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:28:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146894m [env.py: 870] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:28:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38254474 -1.14212582 -0.14689384] yaw=-38.0deg [env.py: 1019] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3945401 -0.91419769 -0.14689384] yaw=-55.7deg [env.py: 1019] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:28:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.9ms, total=226.9ms [env.py: 1075] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -1.142, -0.147) [env.py: 1079] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/12 05:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:28:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:28:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:28:48 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 05:28:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 05:28:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:28:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:28:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:28:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.569s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:28:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.643[m] 80.883[deg] [grasp_sample.py: 539] +05/12 05:28:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:28:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:28:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:29:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:29:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:29:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:29:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.398s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:29:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.184[m] 19.875[deg] [grasp_sample.py: 539] +05/12 05:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:29:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:29:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:29:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:29:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:29:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:29:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:29:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:29:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.211[m] 26.887[deg] [grasp_sample.py: 539] +05/12 05:29:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:29:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:29:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:30:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:30:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:30:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:30:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:30:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.717s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:30:22 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.098[m] 11.499[deg] [grasp_sample.py: 539] +05/12 05:30:23 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:30:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:30:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:30:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:30:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182606m [env.py: 870] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5406495 -1.00823393 -0.18260604] yaw=-54.7deg [env.py: 1019] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=169.9ms [env.py: 1075] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -1.008, -0.183) [env.py: 1079] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg [env.py: 1082] +05/12 05:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:30:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:30:25 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 05:30:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:30:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:30:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:30:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.591s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:30:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.621[m] 88.278[deg] [grasp_sample.py: 539] +05/12 05:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:30:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:30:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:30:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:30:29 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:30:47 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:30:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:30:47 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 05:30:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:30:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:30:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.64s (batch: 3.24s, save: 8.40s) [pipeline.py: 300] +05/12 05:31:00 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.44s: + episode_total: mean=132.03s, total=132.03s, count=1, min=132025.5ms, max=132025.5ms + sensor_polling: mean=340.7ms, total=90.29s, count=265, min=310.6ms, max=626.1ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8396.3ms, max=8396.3ms + physics_step: mean=21.2ms, total=5.61s, count=265, min=14.8ms, max=29.5ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3243.6ms, max=3243.6ms + task_sampling: mean=436.6ms, total=436.6ms, count=1, min=436.6ms, max=436.6ms + task_specific_sample: mean=433.6ms, total=433.6ms, count=1, min=433.6ms, max=433.6ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=371.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:31:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197142m [env.py: 870] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.66429637 -0.95525267 -0.19714206] yaw=-71.4deg [env.py: 1019] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.5ms, total=200.5ms [env.py: 1075] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.664, -0.955, -0.197) [env.py: 1079] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg [env.py: 1082] +05/12 05:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:31:01 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 05:31:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 05:31:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.058s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:31:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.599[m] 88.679[deg] [grasp_sample.py: 539] +05/12 05:31:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:31:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:31:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:31:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:31:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:31:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:31:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.466[m] 64.036[deg] [grasp_sample.py: 539] +05/12 05:31:30 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:31:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128880m [env.py: 870] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43493951 -1.0183794 -0.12887988] yaw=-60.2deg [env.py: 1019] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:31:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.7ms, total=169.7ms [env.py: 1075] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.018, -0.129) [env.py: 1079] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/12 05:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:31:32 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 05:31:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 05:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:32 INFO: [Worker 0] Object is not in grasp! 0.00091 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:31:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.516s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:31:32 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.497[deg] [grasp_sample.py: 539] +05/12 05:31:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:31:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:31:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:31:35 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.731[m] 86.674[deg] [grasp_sample.py: 539] +05/12 05:31:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:36 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:31:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199169m [env.py: 870] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.7ms, total=184.7ms [env.py: 1105] +05/12 05:31:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:31:38 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:31:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148456m [env.py: 870] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.9ms, total=186.0ms [env.py: 1105] +05/12 05:31:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:31:39 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:31:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112913m [env.py: 870] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.9ms, total=191.0ms [env.py: 1105] +05/12 05:31:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:31:41 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:31:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143732m [env.py: 870] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20532577 -0.92584179 -0.14373204] yaw=-37.7deg [env.py: 1019] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=185.8ms, total=185.8ms [env.py: 1075] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -0.926, -0.144) [env.py: 1079] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/12 05:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:31:42 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 05:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 05:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:31:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.410s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:31:44 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180330m [env.py: 870] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27410766 -0.89212363 -0.1803297 ] yaw=-61.2deg [env.py: 1019] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms [env.py: 1075] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -0.892, -0.180) [env.py: 1079] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 05:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:31:45 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 05:31:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:31:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.281s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:31:47 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:31:47 INFO: [Worker 0] Object is not in grasp! 0.00195 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:31:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 367 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.473s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:31:47 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.408[deg] [grasp_sample.py: 539] +05/12 05:31:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:31:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:31:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:31:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:31:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:31:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:31:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:31:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140224m [env.py: 870] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:31:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32690878 -1.15696464 -0.14022445] yaw=-46.4deg [env.py: 1019] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:31:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=163.2ms, total=163.2ms [env.py: 1075] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -1.157, -0.140) [env.py: 1079] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg [env.py: 1082] +05/12 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:31:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:31:48 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 05:31:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 05:31:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:31:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:31:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:31:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.374s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:31:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.678[m] 84.818[deg] [grasp_sample.py: 539] +05/12 05:31:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:31:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:31:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:31:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:31:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:32:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:32:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:32:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:32:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:32:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 05:32:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.383s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:32:06 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.048[m] 1.231[deg] [grasp_sample.py: 539] +05/12 05:32:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:32:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:32:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:32:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:32:14 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:32:14 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=False episode_total=0.79s: + episode_total: mean=106.96s, total=213.91s, count=2, min=104358.1ms, max=109553.6ms + sensor_polling: mean=317.7ms, total=148.39s, count=467, min=291.6ms, max=629.6ms + physics_step: mean=20.9ms, total=9.75s, count=467, min=13.8ms, max=91.6ms + task_sampling: mean=396.0ms, total=792.0ms, count=2, min=368.3ms, max=423.8ms + task_specific_sample: mean=392.9ms, total=785.9ms, count=2, min=365.6ms, max=420.3ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms + mj_forward_sync: mean=419.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:32:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:32:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:32:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:32:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:32:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:32:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160350m [env.py: 870] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:32:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3921065 -1.08863996 -0.16034967] yaw=-51.6deg [env.py: 1019] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:32:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.7ms, total=254.7ms [env.py: 1075] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.089, -0.160) [env.py: 1079] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 05:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:32:16 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 05:32:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:32:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:32:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:32:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:32:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:32:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.636[m] 82.999[deg] [grasp_sample.py: 539] +05/12 05:32:19 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:32:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:32:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:32:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:32:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:32:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:32:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:32:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142686m [env.py: 870] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:32:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.1ms, total=203.2ms [env.py: 1105] +05/12 05:32:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:32:21 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:32:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:32:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:32:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175074m [env.py: 870] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61499385 -0.98537052 -0.17507436] yaw=-65.9deg [env.py: 1019] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2833037 -1.17740298 -0.17507436] yaw=-30.0deg [env.py: 1019] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.1ms [env.py: 1075] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.985, -0.175) [env.py: 1079] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 05:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:32:22 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 05:32:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:32:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:32:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:32:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:32:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.717s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:32:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.612[m] 85.303[deg] [grasp_sample.py: 539] +05/12 05:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:32:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:32:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:32:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:32:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:32:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:32:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:32:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:32:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.949s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:32:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.479[m] 61.790[deg] [grasp_sample.py: 539] +05/12 05:32:52 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:32:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:32:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:32:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:32:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:32:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:32:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:32:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155506m [env.py: 870] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:32:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=162.0ms, total=162.0ms [env.py: 1105] +05/12 05:32:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:32:53 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:32:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:32:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:32:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:32:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:32:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:32:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196616m [env.py: 870] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:32:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=165.2ms, total=165.2ms [env.py: 1105] +05/12 05:32:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:32:55 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:32:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:32:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:32:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:32:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:32:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:32:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163491m [env.py: 870] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:32:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13479817 -1.04989303 -0.16349084] yaw=-40.2deg [env.py: 1019] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6355417 -0.87641502 -0.16349084] yaw=-63.6deg [env.py: 1019] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:32:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.0ms, total=164.0ms [env.py: 1075] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -1.050, -0.163) [env.py: 1079] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/12 05:32:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:32:56 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 05:32:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 05:32:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:32:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:32:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:32:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.602s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:32:58 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:32:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:32:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:32:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:32:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:32:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113366m [env.py: 870] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5302574 -0.75277546 -0.11336629] yaw=-73.4deg [env.py: 1019] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.7ms, total=192.8ms [env.py: 1075] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.753, -0.113) [env.py: 1079] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.4 deg [env.py: 1082] +05/12 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:33:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:33:00 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 05:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 05:33:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:33:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:33:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:33:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.635s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:33:01 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:33:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:33:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:33:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:33:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:33:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:33:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:33:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160886m [env.py: 870] +05/12 05:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:33:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52687965 -0.7266369 -0.16088602] yaw=-66.9deg [env.py: 1019] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25077324 -1.11640864 -0.16088602] yaw=-30.9deg [env.py: 1019] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:33:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.5ms, total=157.5ms [env.py: 1075] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.727, -0.161) [env.py: 1079] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 05:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 05:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:33:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:33:03 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 05:33:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:33:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:33:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:33:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:33:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.084s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:33:05 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:33:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:33:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:33:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:33:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:33:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:33:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:33:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126051m [env.py: 870] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:33:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16925313 -1.04393065 -0.12605124] yaw=-40.7deg [env.py: 1019] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:33:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.2ms [env.py: 1075] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.044, -0.126) [env.py: 1079] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 05:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:33:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:33:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:33:07 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 05:33:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:33:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:33:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:33:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.603s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:33:08 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:33:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:33:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:33:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:33:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:33:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:33:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:33:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112909m [env.py: 870] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:33:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10846729 -1.0668621 -0.11290863] yaw=-33.4deg [env.py: 1019] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34947707 -0.83439192 -0.11290863] yaw=-57.4deg [env.py: 1019] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:33:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=194.1ms, total=194.1ms [env.py: 1075] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.108, -1.067, -0.113) [env.py: 1079] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.4 deg [env.py: 1082] +05/12 05:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:33:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:33:10 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 05:33:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:33:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:33:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:33:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:33:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.616s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:33:12 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:33:13 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:33:13 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:33:13 INFO: [Worker 0] Worker 0 completed house 1: 10/14 successful episodes [pipeline.py: 1323] +05/12 05:33:13 INFO: [Worker 0] [PROFILE] House 1 complete: 10/14 successful, 14 episodes, total_time=4413.07s + House averages: + episode_total: mean=35.55s, total=2559.26s, count=72, min=170.8ms, max=155104.9ms + sensor_polling: mean=343.7ms, total=1555.77s, count=4527, min=291.6ms, max=718.6ms + physics_step: mean=22.5ms, total=101.83s, count=4527, min=13.4ms, max=91.6ms + save_trajectories: mean=9.22s, total=92.20s, count=10, min=8517.3ms, max=9983.4ms + save_batch_prep: mean=3.41s, total=34.10s, count=10, min=2831.8ms, max=4055.4ms + task_specific_sample: mean=409.6ms, total=29.49s, count=72, min=166.8ms, max=1060.7ms + task_sampling: mean=569.0ms, total=26.74s, count=47, min=319.8ms, max=3583.5ms + task_sampling_failed: mean=245.0ms, total=6.12s, count=25, min=170.7ms, max=915.1ms + scene_load: mean=3.02s, total=3.02s, count=1, min=3017.1ms, max=3017.1ms + scene_env_create: mean=1.58s, total=1.58s, count=1, min=1577.6ms, max=1577.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.3ms, max=1298.3ms + compile_mujoco: mean=729.5ms, total=729.5ms, count=1, min=729.5ms, max=729.5ms + compile_xml_load: mean=490.6ms, total=490.6ms, count=1, min=490.6ms, max=490.6ms + scene_init: mean=96.4ms, total=96.4ms, count=1, min=96.4ms, max=96.4ms + scene_randomize: mean=1.3ms, total=95.2ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + scene_asset_install: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms + mj_forward_sync: mean=450.2us, total=32.4ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.9ms, total=29.9ms, count=1, min=29.9ms, max=29.9ms + compile_robot_add: mean=19.7ms, total=19.7ms, count=1, min=19.7ms, max=19.7ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.5us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 05:33:13 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 05:33:13 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4413.07s + Worker averages: + episode_total: mean=35.55s, total=2559.26s, count=72, min=170.8ms, max=155104.9ms + sensor_polling: mean=343.7ms, total=1555.77s, count=4527, min=291.6ms, max=718.6ms + physics_step: mean=22.5ms, total=101.83s, count=4527, min=13.4ms, max=91.6ms + save_trajectories: mean=9.22s, total=92.20s, count=10, min=8517.3ms, max=9983.4ms + save_batch_prep: mean=3.41s, total=34.10s, count=10, min=2831.8ms, max=4055.4ms + task_specific_sample: mean=409.6ms, total=29.49s, count=72, min=166.8ms, max=1060.7ms + task_sampling: mean=569.0ms, total=26.74s, count=47, min=319.8ms, max=3583.5ms + task_sampling_failed: mean=245.0ms, total=6.12s, count=25, min=170.7ms, max=915.1ms + scene_load: mean=3.02s, total=3.02s, count=1, min=3017.1ms, max=3017.1ms + scene_env_create: mean=1.58s, total=1.58s, count=1, min=1577.6ms, max=1577.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.3ms, max=1298.3ms + compile_mujoco: mean=729.5ms, total=729.5ms, count=1, min=729.5ms, max=729.5ms + compile_xml_load: mean=490.6ms, total=490.6ms, count=1, min=490.6ms, max=490.6ms + scene_init: mean=96.4ms, total=96.4ms, count=1, min=96.4ms, max=96.4ms + scene_randomize: mean=1.3ms, total=95.2ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + scene_asset_install: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms + mj_forward_sync: mean=450.2us, total=32.4ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.9ms, total=29.9ms, count=1, min=29.9ms, max=29.9ms + compile_robot_add: mean=19.7ms, total=19.7ms, count=1, min=19.7ms, max=19.7ms + asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.5us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 05:33:15 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 05:33:15 INFO: Success count: 10, Total count: 14 [pipeline.py: 1491] +05/12 05:33:15 INFO: Success rate: 71.43% [pipeline.py: 1492] +05/12 05:33:32 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:33:51 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_010 [pipeline.py: 1174] +05/12 05:33:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_010 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:33:51 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 05:34:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:34:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_010 [save_utils.py: 785] +05/12 05:34:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_010 in 11.50s (batch: 3.24s, save: 8.26s) [pipeline.py: 300] +05/12 05:34:03 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.93s: + episode_total: mean=21.72s, total=173.73s, count=8, min=193.6ms, max=135026.8ms + sensor_polling: mean=347.9ms, total=108.20s, count=311, min=309.1ms, max=541.7ms + save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.1ms, max=8261.1ms + physics_step: mean=21.2ms, total=6.58s, count=311, min=14.8ms, max=31.0ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3239.8ms, max=3239.8ms + task_specific_sample: mean=311.5ms, total=2.49s, count=8, min=189.5ms, max=444.3ms + task_sampling: mean=386.0ms, total=1.93s, count=5, min=330.4ms, max=448.2ms + task_sampling_failed: mean=195.4ms, total=586.3ms, count=3, min=193.6ms, max=198.6ms + scene_randomize: mean=1.3ms, total=10.3ms, count=8, min=1.0ms, max=2.7ms + mj_forward_sync: mean=421.6us, total=3.4ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:34:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:34:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:34:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:34:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:34:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:34:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:34:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:34:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:34:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:34:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137758m [env.py: 870] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:34:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:34:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:34:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.6ms, total=215.7ms [env.py: 1105] +05/12 05:34:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:34:04 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:34:06 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:34:06 WARNING: [Worker 0] No trajectory data to save for chunk_010 [pipeline.py: 234] +05/12 05:34:06 INFO: [Worker 0] Worker 0 completed house 1: 11/13 successful episodes [pipeline.py: 1323] +05/12 05:34:06 INFO: [Worker 0] [PROFILE] House 1 complete: 11/13 successful, 13 episodes, total_time=4537.19s + House averages: + episode_total: mean=36.29s, total=2612.68s, count=72, min=182.6ms, max=171157.8ms + sensor_polling: mean=378.4ms, total=1621.34s, count=4285, min=307.6ms, max=808.4ms + save_trajectories: mean=8.97s, total=98.63s, count=11, min=8112.8ms, max=10730.6ms + physics_step: mean=22.9ms, total=98.33s, count=4285, min=13.2ms, max=113.0ms + save_batch_prep: mean=3.37s, total=37.11s, count=11, min=3050.4ms, max=3605.5ms + task_specific_sample: mean=418.5ms, total=30.13s, count=72, min=177.3ms, max=929.6ms + task_sampling: mean=475.0ms, total=24.70s, count=52, min=288.7ms, max=932.3ms + task_sampling_failed: mean=408.9ms, total=8.18s, count=20, min=182.6ms, max=2758.5ms + scene_load: mean=2.53s, total=2.53s, count=1, min=2527.6ms, max=2527.6ms + scene_env_create: mean=1.54s, total=1.54s, count=1, min=1536.1ms, max=1536.1ms + scene_compile: mean=819.2ms, total=819.2ms, count=1, min=819.2ms, max=819.2ms + compile_mujoco: mean=543.5ms, total=543.5ms, count=1, min=543.5ms, max=543.5ms + compile_xml_load: mean=210.9ms, total=210.9ms, count=1, min=210.9ms, max=210.9ms + scene_init: mean=128.1ms, total=128.1ms, count=1, min=128.1ms, max=128.1ms + scene_randomize: mean=1.3ms, total=94.4ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + compile_aux_policy_objects: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + mj_forward_sync: mean=428.3us, total=30.8ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + compile_robot_add: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=13.6us, total=0.7ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 05:34:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 05:34:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4537.19s + Worker averages: + episode_total: mean=36.29s, total=2612.68s, count=72, min=182.6ms, max=171157.8ms + sensor_polling: mean=378.4ms, total=1621.34s, count=4285, min=307.6ms, max=808.4ms + save_trajectories: mean=8.97s, total=98.63s, count=11, min=8112.8ms, max=10730.6ms + physics_step: mean=22.9ms, total=98.33s, count=4285, min=13.2ms, max=113.0ms + save_batch_prep: mean=3.37s, total=37.11s, count=11, min=3050.4ms, max=3605.5ms + task_specific_sample: mean=418.5ms, total=30.13s, count=72, min=177.3ms, max=929.6ms + task_sampling: mean=475.0ms, total=24.70s, count=52, min=288.7ms, max=932.3ms + task_sampling_failed: mean=408.9ms, total=8.18s, count=20, min=182.6ms, max=2758.5ms + scene_load: mean=2.53s, total=2.53s, count=1, min=2527.6ms, max=2527.6ms + scene_env_create: mean=1.54s, total=1.54s, count=1, min=1536.1ms, max=1536.1ms + scene_compile: mean=819.2ms, total=819.2ms, count=1, min=819.2ms, max=819.2ms + compile_mujoco: mean=543.5ms, total=543.5ms, count=1, min=543.5ms, max=543.5ms + compile_xml_load: mean=210.9ms, total=210.9ms, count=1, min=210.9ms, max=210.9ms + scene_init: mean=128.1ms, total=128.1ms, count=1, min=128.1ms, max=128.1ms + scene_randomize: mean=1.3ms, total=94.4ms, count=72, min=0.9ms, max=2.8ms + compile_aux_objects: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + compile_aux_policy_objects: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + mj_forward_sync: mean=428.3us, total=30.8ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + compile_robot_add: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=13.6us, total=0.7ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 05:34:08 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 05:34:08 INFO: Success count: 11, Total count: 13 [pipeline.py: 1491] +05/12 05:34:08 INFO: Success rate: 84.62% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_011/experiment_config_20260512_053529.pkl b/3drawers/sim_chunks/chunk_011/experiment_config_20260512_053529.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f76ce2e704ad4d1f655b392b6302a2d0993e1e1d --- /dev/null +++ b/3drawers/sim_chunks/chunk_011/experiment_config_20260512_053529.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a091dc349ae84d6b1bc04ea3ee3a525b3e892bba6126e25f3ea3d3632072e951 +size 8146 diff --git 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a/3drawers/sim_chunks/chunk_011/running_log.log b/3drawers/sim_chunks/chunk_011/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..3a7cde064ab882f56436e275ff112e9c28dd1f86 --- /dev/null +++ b/3drawers/sim_chunks/chunk_011/running_log.log @@ -0,0 +1,14922 @@ +05/12 05:35:29 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 05:35:29 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 05:35:29 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 05:35:29 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41104, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 05:35:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 05:35:29 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 05:35:29 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 05:35:30 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 05:35:31 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 05:35:31 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 05:35:31 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 05:35:31 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41103, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 05:35:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 05:35:31 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 05:35:31 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 05:35:31 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 05:35:31 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 05:35:31 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 05:35:31 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41102, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 05:35:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 05:35:31 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 05:35:31 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 05:35:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 05:35:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 05:35:32 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 05:35:32 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 05:35:32 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 05:35:32 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 05:35:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121848m [env.py: 870] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:32 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.7ms, retries=178.6ms, total=195.3ms [env.py: 1105] +05/12 05:35:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:35:33 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:35:33 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 05:35:33 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 05:35:33 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 05:35:33 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 05:35:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142408m [env.py: 870] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:33 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.7ms, retries=173.6ms, total=190.4ms [env.py: 1105] +05/12 05:35:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:35:33 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:35:33 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 05:35:33 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 05:35:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:35:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171980m [env.py: 870] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 05:35:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192091m [env.py: 870] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:34 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=172.8ms, total=172.8ms [env.py: 1105] +05/12 05:35:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:35:34 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=26.2ms, retries=231.6ms, total=257.8ms [env.py: 1105] +05/12 05:35:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:35:34 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:35:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:35:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111153m [env.py: 870] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:35:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132185m [env.py: 870] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42923051 -0.97105858 -0.11115308] yaw=-58.5deg [env.py: 1019] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29480247 -0.91936565 -0.13218497] yaw=-48.1deg [env.py: 1019] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29628714 -1.05709875 -0.11115308] yaw=-52.5deg [env.py: 1019] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:35:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=307.0ms, total=307.1ms [env.py: 1075] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -0.971, -0.111) [env.py: 1079] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:35:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=370.4ms, total=370.4ms [env.py: 1075] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -0.919, -0.132) [env.py: 1079] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 05:35:35 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 05:35:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 05:35:35 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_011'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41101, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 05:35:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 05:35:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 05:35:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 05:35:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:35:35 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 05:35:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:35:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190378m [env.py: 870] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:35:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:35:35 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50430619 -0.76657133 -0.19037761] yaw=-74.8deg [env.py: 1019] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21984787 -1.0464749 -0.19037761] yaw=-52.1deg [env.py: 1019] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:35:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.5ms [env.py: 1075] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -0.767, -0.190) [env.py: 1079] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.8 deg [env.py: 1082] +05/12 05:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:35:36 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 05:35:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 05:35:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 05:35:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 05:35:38 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 05:35:38 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 05:35:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143594m [env.py: 870] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.6ms, retries=346.3ms, total=362.9ms [env.py: 1105] +05/12 05:35:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:35:38 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:35:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:35:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:35:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:35:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:35:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:35:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197235m [env.py: 870] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:35:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60935658 -0.91946959 -0.19723451] yaw=-61.9deg [env.py: 1019] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:35:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.4ms, total=252.4ms [env.py: 1075] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.919, -0.197) [env.py: 1079] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg [env.py: 1082] +05/12 05:35:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:35:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:35:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:35:40 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 28.331s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:05 INFO: [Worker 0] Warmed up parallel IK solver in 29.892s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.726s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:36:06 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:36:06 INFO: [Worker 0] Warmed up parallel IK solver in 30.745s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107498m [env.py: 870] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.041s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:36:07 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4852387 -1.00188594 -0.10749791] yaw=-60.2deg [env.py: 1019] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.3ms [env.py: 1075] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -1.002, -0.107) [env.py: 1079] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/12 05:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:08 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129940m [env.py: 870] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32337035 -0.84738133 -0.12993977] yaw=-46.0deg [env.py: 1019] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4040548 -1.08438681 -0.12993977] yaw=-56.5deg [env.py: 1019] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.2ms, total=201.3ms [env.py: 1075] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -0.847, -0.130) [env.py: 1079] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg [env.py: 1082] +05/12 05:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:09 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.777s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.709[m] 84.041[deg] [grasp_sample.py: 539] +05/12 05:36:10 INFO: [Worker 0] Warmed up parallel IK solver in 29.749s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:11 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.522s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:36:11 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:36:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197554m [env.py: 870] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122068m [env.py: 870] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=176.1ms, total=176.2ms [env.py: 1105] +05/12 05:36:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:12 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.090s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:12 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.740[m] 99.148[deg] [grasp_sample.py: 539] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57145547 -1.01037808 -0.12206809] yaw=-62.9deg [env.py: 1019] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10783216 -1.07075341 -0.12206809] yaw=-46.2deg [env.py: 1019] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30078596 -1.07818625 -0.12206809] yaw=-50.7deg [env.py: 1019] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=263.4ms, total=263.5ms [env.py: 1075] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -1.010, -0.122) [env.py: 1079] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 05:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:13 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:13 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196214m [env.py: 870] +05/12 05:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2077633 -1.03849964 -0.19621363] yaw=-31.8deg [env.py: 1019] +05/12 05:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58251727 -0.81291247 -0.19621363] yaw=-75.1deg [env.py: 1019] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40688629 -1.13813503 -0.19621363] yaw=-44.1deg [env.py: 1019] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.8ms, total=91.9ms [env.py: 1075] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.038, -0.196) [env.py: 1079] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg [env.py: 1082] +05/12 05:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 05:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:14 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.658[m] 90.063[deg] [grasp_sample.py: 539] +05/12 05:36:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:36:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.864s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.679[m] 77.972[deg] [grasp_sample.py: 539] +05/12 05:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101295m [env.py: 870] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:36:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.4ms, total=205.4ms [env.py: 1105] +05/12 05:36:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:15 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:36:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:36:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:36:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.613s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:15 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.738[m] 81.247[deg] [grasp_sample.py: 539] +05/12 05:36:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102793m [env.py: 870] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.6ms, total=218.6ms [env.py: 1105] +05/12 05:36:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:16 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197073m [env.py: 870] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169519m [env.py: 870] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=281.8ms, total=281.8ms [env.py: 1105] +05/12 05:36:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=345.8ms, total=345.9ms [env.py: 1105] +05/12 05:36:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150368m [env.py: 870] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=161.8ms, total=161.8ms [env.py: 1105] +05/12 05:36:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:20 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187643m [env.py: 870] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=408.6ms, total=408.6ms [env.py: 1105] +05/12 05:36:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:20 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180111m [env.py: 870] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181867m [env.py: 870] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6003572 -0.90868614 -0.18011138] yaw=-77.7deg [env.py: 1019] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms [env.py: 1075] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.909, -0.180) [env.py: 1079] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg [env.py: 1082] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19763161 -1.04304209 -0.18186692] yaw=-53.2deg [env.py: 1019] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=296.7ms, total=296.8ms [env.py: 1075] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.043, -0.182) [env.py: 1079] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 05:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:22 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:22 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.409s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.741[m] 87.814[deg] [grasp_sample.py: 539] +05/12 05:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189138m [env.py: 870] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.6ms, total=201.6ms [env.py: 1105] +05/12 05:36:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:26 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125332m [env.py: 870] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24673194 -0.96301356 -0.12533161] yaw=-40.5deg [env.py: 1019] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30501899 -1.15162996 -0.12533161] yaw=-36.0deg [env.py: 1019] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=201.0ms [env.py: 1075] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.963, -0.125) [env.py: 1079] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg [env.py: 1082] +05/12 05:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:27 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:36:29 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:36:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114367m [env.py: 870] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.2ms, total=187.2ms [env.py: 1105] +05/12 05:36:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186209m [env.py: 870] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52260843 -0.85150595 -0.1862086 ] yaw=-70.6deg [env.py: 1019] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.8ms, total=190.9ms [env.py: 1075] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.852, -0.186) [env.py: 1079] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/12 05:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:32 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.986s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:34 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.697[m] 99.036[deg] [grasp_sample.py: 539] +05/12 05:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:35 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.713[m] 81.857[deg] [grasp_sample.py: 539] +05/12 05:36:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160174m [env.py: 870] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49716407 -0.73071812 -0.1601738 ] yaw=-58.5deg [env.py: 1019] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24375198 -0.94163335 -0.1601738 ] yaw=-55.7deg [env.py: 1019] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=207.0ms [env.py: 1075] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.731, -0.160) [env.py: 1079] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/12 05:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:36 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:36:38 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135721m [env.py: 870] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45558428 -0.8609383 -0.13572144] yaw=-60.1deg [env.py: 1019] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.3ms, total=198.3ms [env.py: 1075] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.861, -0.136) [env.py: 1079] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:39 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169800m [env.py: 870] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23636677 -1.070134 -0.16980032] yaw=-31.8deg [env.py: 1019] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.1ms, total=216.1ms [env.py: 1075] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.070, -0.170) [env.py: 1079] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg [env.py: 1082] +05/12 05:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:40 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.797s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:44 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.738[m] 78.705[deg] [grasp_sample.py: 539] +05/12 05:36:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:36:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:36:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:36:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:45 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199758m [env.py: 870] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.8ms, total=198.8ms [env.py: 1105] +05/12 05:36:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:46 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.109s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:47 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.750[m] 85.692[deg] [grasp_sample.py: 539] +05/12 05:36:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.992s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.502[m] 54.124[deg] [grasp_sample.py: 539] +05/12 05:36:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143761m [env.py: 870] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=372.1ms, total=372.1ms [env.py: 1105] +05/12 05:36:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:48 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:48 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:48 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138431m [env.py: 870] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124680m [env.py: 870] +05/12 05:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2129611 -1.1340778 -0.13843072] yaw=-29.6deg [env.py: 1019] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55737136 -0.90251718 -0.12468045] yaw=-58.9deg [env.py: 1019] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=327.2ms, total=327.3ms [env.py: 1075] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.134, -0.138) [env.py: 1079] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.6 deg [env.py: 1082] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120200m [env.py: 870] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49874452 -0.95428329 -0.12468045] yaw=-63.8deg [env.py: 1019] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:50 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47603151 -0.88794342 -0.12468045] yaw=-56.4deg [env.py: 1019] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=715.9ms, total=716.0ms [env.py: 1075] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.903, -0.125) [env.py: 1079] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/12 05:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=370.3ms, total=370.3ms [env.py: 1105] +05/12 05:36:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:50 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:50 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193057m [env.py: 870] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=219.8ms, total=219.9ms [env.py: 1105] +05/12 05:36:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125083m [env.py: 870] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.7ms, total=189.7ms [env.py: 1105] +05/12 05:36:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:54 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.976s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:54 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.680[m] 83.911[deg] [grasp_sample.py: 539] +05/12 05:36:55 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185580m [env.py: 870] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46760113 -1.05196761 -0.18558035] yaw=-43.7deg [env.py: 1019] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55718632 -0.9771078 -0.18558035] yaw=-53.2deg [env.py: 1019] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.8ms, total=204.8ms [env.py: 1075] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -1.052, -0.186) [env.py: 1079] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 05:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:55 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.132s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:55 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.718[m] 77.431[deg] [grasp_sample.py: 539] +05/12 05:36:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.622s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:36:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.661[m] 80.988[deg] [grasp_sample.py: 539] +05/12 05:36:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:36:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142945m [env.py: 870] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.0ms, total=194.1ms [env.py: 1105] +05/12 05:36:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:56 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:36:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:36:57 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:36:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:36:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157522m [env.py: 870] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.5ms, total=191.6ms [env.py: 1105] +05/12 05:36:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:58 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:36:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111995m [env.py: 870] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4262314 -0.81707504 -0.11199509] yaw=-62.2deg [env.py: 1019] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50048217 -0.98205629 -0.11199509] yaw=-64.7deg [env.py: 1019] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:36:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.8ms, total=224.8ms [env.py: 1075] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.817, -0.112) [env.py: 1079] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/12 05:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:36:59 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 05:36:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 05:36:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:36:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:36:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:36:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:36:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:36:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150418m [env.py: 870] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:36:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=248.4ms, total=248.5ms [env.py: 1105] +05/12 05:36:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:36:59 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:37:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:37:00 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:37:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128929m [env.py: 870] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.0ms, total=199.0ms [env.py: 1105] +05/12 05:37:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:37:01 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:37:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139663m [env.py: 870] +05/12 05:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.9ms, total=202.9ms [env.py: 1105] +05/12 05:37:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:37:02 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:37:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110164m [env.py: 870] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33766593 -1.09123318 -0.11016435] yaw=-35.5deg [env.py: 1019] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:37:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=203.0ms [env.py: 1075] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.091, -0.110) [env.py: 1079] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg [env.py: 1082] +05/12 05:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:37:03 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 05:37:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:37:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:37:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:37:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:37:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199100m [env.py: 870] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58116963 -0.98531461 -0.19909961] yaw=-59.4deg [env.py: 1019] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:37:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=226.7ms, total=226.8ms [env.py: 1075] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.985, -0.199) [env.py: 1079] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 05:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:37:03 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 05:37:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:37:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:37:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:37:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:37:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:37:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.605[m] 87.356[deg] [grasp_sample.py: 539] +05/12 05:37:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:37:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:37:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:37:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:37:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.984s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:37:07 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.719[m] 85.667[deg] [grasp_sample.py: 539] +05/12 05:37:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:37:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:37:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:37:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:37:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:37:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:37:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:37:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 377 non-colliding grasps [grasp_sample.py: 465] +05/12 05:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:37:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:37:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:37:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:37:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:37:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:37:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.452[m] 61.917[deg] [grasp_sample.py: 539] +05/12 05:37:37 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:37:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193474m [env.py: 870] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=591.8ms, total=591.9ms [env.py: 1105] +05/12 05:37:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:37:39 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:37:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115813m [env.py: 870] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=368.4ms, total=368.5ms [env.py: 1105] +05/12 05:37:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:37:40 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:37:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109213m [env.py: 870] +05/12 05:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20301378 -1.10354233 -0.1092133 ] yaw=-37.9deg [env.py: 1019] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:37:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=323.1ms, total=323.1ms [env.py: 1075] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.203, -1.104, -0.109) [env.py: 1079] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 05:37:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/12 05:37:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:37:42 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 05:37:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 05:37:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:37:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:37:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.879s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:37:44 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.067[m] 12.884[deg] [grasp_sample.py: 539] +05/12 05:37:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:37:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:37:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.139s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:37:47 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.766[m] 75.911[deg] [grasp_sample.py: 539] +05/12 05:37:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:37:48 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:37:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126875m [env.py: 870] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16231648 -1.00699002 -0.12687517] yaw=-37.3deg [env.py: 1019] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=199.4ms, total=199.4ms [env.py: 1075] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -1.007, -0.127) [env.py: 1079] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/12 05:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:37:50 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 05:37:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 05:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:37:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:37:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.410s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:37:52 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:37:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:37:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:37:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:37:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:37:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:37:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177020m [env.py: 870] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:37:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4027622 -1.0566679 -0.17702027] yaw=-50.3deg [env.py: 1019] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46981913 -0.75631254 -0.17702027] yaw=-72.8deg [env.py: 1019] +05/12 05:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:37:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=359.3ms, total=359.3ms [env.py: 1075] +05/12 05:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.057, -0.177) [env.py: 1079] +05/12 05:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 05:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 05:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:37:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:37:54 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 05:37:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:37:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:37:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:37:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.464s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:37:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.616[m] 89.017[deg] [grasp_sample.py: 539] +05/12 05:37:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:37:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:37:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:37:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:37:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:38:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:38:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:38:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:38:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:38:01 INFO: [Worker 0] Feasible grasp found 29 (originally 29): w/ 0.126[m] 9.690[deg] [grasp_sample.py: 539] +05/12 05:38:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:38:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:38:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:38:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:38:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:38:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:38:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.422s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:38:11 INFO: [Worker 0] Feasible grasp found 29 (originally 29): w/ 0.167[m] 7.316[deg] [grasp_sample.py: 539] +05/12 05:38:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:38:11 INFO: [Worker 0] Object is not in grasp! 0.00123 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:38:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:38:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:38:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:38:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:38:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 381 non-colliding grasps [grasp_sample.py: 465] +05/12 05:38:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:38:13 INFO: [Worker 0] Feasible grasp found 280 (originally 280): w/ 0.079[m] 0.827[deg] [grasp_sample.py: 539] +05/12 05:38:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:38:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:38:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:38:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:38:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:31 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:38:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:38:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:38:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:38:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:38:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 350 non-colliding grasps [grasp_sample.py: 465] +05/12 05:38:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.463s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:38:32 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.064[m] 3.643[deg] [grasp_sample.py: 539] +05/12 05:38:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:38:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:38:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:38:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.52s: + episode_total: mean=91.69s, total=183.38s, count=2, min=3241.8ms, max=180138.9ms + sensor_polling: mean=379.7ms, total=113.90s, count=300, min=296.5ms, max=837.4ms + physics_step: mean=24.8ms, total=7.44s, count=300, min=17.1ms, max=84.9ms + task_sampling_failed: mean=3.24s, total=3.24s, count=1, min=3241.8ms, max=3241.8ms + scene_load: mean=2.87s, total=2.87s, count=1, min=2870.6ms, max=2870.6ms + scene_env_create: mean=1.66s, total=1.66s, count=1, min=1664.6ms, max=1664.6ms + scene_compile: mean=1.06s, total=1.06s, count=1, min=1062.4ms, max=1062.4ms + task_specific_sample: mean=443.6ms, total=887.3ms, count=2, min=367.6ms, max=519.7ms + compile_mujoco: mean=536.6ms, total=536.6ms, count=1, min=536.6ms, max=536.6ms + task_sampling: mean=522.1ms, total=522.1ms, count=1, min=522.1ms, max=522.1ms + compile_xml_load: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms + scene_init: mean=96.6ms, total=96.6ms, count=1, min=96.6ms, max=96.6ms + compile_aux_objects: mean=50.9ms, total=50.9ms, count=1, min=50.9ms, max=50.9ms + compile_aux_policy_objects: mean=50.9ms, total=50.9ms, count=1, min=50.9ms, max=50.9ms + scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.0ms, max=1.4ms + mj_forward_sync: mean=388.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:38:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:38:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:38:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:38:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:38:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:38:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:38:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195213m [env.py: 870] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:38:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43752088 -1.08613431 -0.19521307] yaw=-42.3deg [env.py: 1019] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:38:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.7ms [env.py: 1075] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.086, -0.195) [env.py: 1079] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg [env.py: 1082] +05/12 05:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:38:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:38:41 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 05:38:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:38:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:38:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:38:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:38:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.533s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:38:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.643[m] 80.475[deg] [grasp_sample.py: 539] +05/12 05:38:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:38:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:38:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:38:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:38:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:38:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:38:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:39:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:39:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:39:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:39:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:39:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/12 05:39:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.709s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:39:09 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.120[m] 5.496[deg] [grasp_sample.py: 539] +05/12 05:39:10 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:39:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:39:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:39:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125552m [env.py: 870] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61806446 -0.9898012 -0.12555186] yaw=-63.2deg [env.py: 1019] +05/12 05:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:39:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=584.1ms, total=584.1ms [env.py: 1075] +05/12 05:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.618, -0.990, -0.126) [env.py: 1079] +05/12 05:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg [env.py: 1082] +05/12 05:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 05:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:39:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:39:12 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 05:39:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:39:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:39:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:39:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:39:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.913s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:39:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.660[m] 85.140[deg] [grasp_sample.py: 539] +05/12 05:39:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:39:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:39:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:39:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:39:27 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:39:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:44 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:39:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:39:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:39:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:39:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:39:47 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:39:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:39:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 05:39:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.937s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:39:51 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.504[m] 57.546[deg] [grasp_sample.py: 539] +05/12 05:39:52 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:39:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:39:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:39:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:39:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:39:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:39:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:39:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130179m [env.py: 870] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:39:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62740116 -0.85076226 -0.13017876] yaw=-65.7deg [env.py: 1019] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31809128 -0.89334324 -0.13017876] yaw=-52.4deg [env.py: 1019] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.2ms [env.py: 1075] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.627, -0.851, -0.130) [env.py: 1079] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/12 05:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 05:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:39:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:39:54 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 05:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:39:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:39:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:39:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.664s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:39:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.729[m] 83.852[deg] [grasp_sample.py: 539] +05/12 05:39:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:39:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:39:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:40:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:40:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:40:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.61s (batch: 3.64s, save: 12.97s) [pipeline.py: 300] +05/12 05:40:05 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.99s: + episode_total: mean=29.53s, total=265.79s, count=9, min=181.4ms, max=189758.2ms + sensor_polling: mean=366.8ms, total=128.00s, count=349, min=314.9ms, max=589.4ms + save_trajectories: mean=12.97s, total=12.97s, count=1, min=12971.1ms, max=12971.1ms + physics_step: mean=21.9ms, total=7.64s, count=349, min=15.1ms, max=56.2ms + task_sampling_failed: mean=941.3ms, total=4.71s, count=5, min=181.4ms, max=3714.6ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3636.7ms, max=3636.7ms + scene_load: mean=3.51s, total=3.51s, count=1, min=3511.0ms, max=3511.0ms + task_specific_sample: mean=350.5ms, total=3.15s, count=9, min=178.5ms, max=621.2ms + task_sampling: mean=496.4ms, total=1.99s, count=4, min=407.2ms, max=623.8ms + scene_env_create: mean=1.74s, total=1.74s, count=1, min=1743.0ms, max=1743.0ms + scene_compile: mean=1.62s, total=1.62s, count=1, min=1623.1ms, max=1623.1ms + compile_xml_load: mean=917.8ms, total=917.8ms, count=1, min=917.8ms, max=917.8ms + compile_mujoco: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms + scene_init: mean=98.6ms, total=98.6ms, count=1, min=98.6ms, max=98.6ms + compile_aux_objects: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + compile_aux_policy_objects: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=46.0ms, total=46.0ms, count=1, min=46.0ms, max=46.0ms + compile_robot_add: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + scene_randomize: mean=1.2ms, total=10.6ms, count=9, min=1.0ms, max=1.4ms + mj_forward_sync: mean=492.4us, total=4.4ms, count=9, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=22.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:40:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:40:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:40:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:40:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:40:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:40:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154695m [env.py: 870] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:40:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.40389708 -0.91617658 -0.15469513] yaw=-51.1deg [env.py: 1019] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.8ms, total=247.9ms [env.py: 1075] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.916, -0.155) [env.py: 1079] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 05:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:40:06 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 05:40:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 05:40:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:40:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:40:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:40:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:40:07 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 05:40:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:40:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.213s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:40:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.728[m] 81.711[deg] [grasp_sample.py: 539] +05/12 05:40:12 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:40:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:40:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:40:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:40:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:40:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:40:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184820m [env.py: 870] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:40:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.8ms, total=232.9ms [env.py: 1105] +05/12 05:40:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:40:13 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:40:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:40:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:40:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:40:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:40:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:40:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195827m [env.py: 870] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:40:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2664675 -1.07199697 -0.19582744] yaw=-39.8deg [env.py: 1019] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.6ms, total=214.7ms [env.py: 1075] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.072, -0.196) [env.py: 1079] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.8 deg [env.py: 1082] +05/12 05:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:40:15 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 05:40:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:40:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:40:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:40:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:40:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:40:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:40:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.18s (batch: 3.57s, save: 9.61s) [pipeline.py: 300] +05/12 05:40:20 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=3.76s: + episode_total: mean=13.24s, total=264.86s, count=20, min=195.1ms, max=198075.4ms + sensor_polling: mean=527.2ms, total=148.14s, count=281, min=307.7ms, max=748.1ms + save_trajectories: mean=9.61s, total=9.61s, count=1, min=9606.8ms, max=9606.8ms + task_specific_sample: mean=345.7ms, total=6.91s, count=20, min=191.9ms, max=1003.4ms + physics_step: mean=23.4ms, total=6.59s, count=281, min=15.2ms, max=64.8ms + task_sampling_failed: mean=439.4ms, total=5.71s, count=13, min=195.1ms, max=2699.0ms + task_sampling: mean=537.6ms, total=3.76s, count=7, min=392.3ms, max=1006.1ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3573.4ms, max=3573.4ms + scene_load: mean=2.50s, total=2.50s, count=1, min=2501.3ms, max=2501.3ms + scene_env_create: mean=1.53s, total=1.53s, count=1, min=1527.0ms, max=1527.0ms + scene_compile: mean=833.0ms, total=833.0ms, count=1, min=833.0ms, max=833.0ms + compile_mujoco: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms + compile_xml_load: mean=211.8ms, total=211.8ms, count=1, min=211.8ms, max=211.8ms + scene_init: mean=98.5ms, total=98.5ms, count=1, min=98.5ms, max=98.5ms + compile_aux_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + compile_aux_policy_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + scene_asset_install: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms + scene_randomize: mean=1.1ms, total=21.8ms, count=20, min=0.9ms, max=1.3ms + asset_install_objects: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms + mj_forward_sync: mean=462.9us, total=9.3ms, count=20, min=0.4ms, max=0.8ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=16.3us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:40:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.278s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:40:21 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.677[m] 88.304[deg] [grasp_sample.py: 539] +05/12 05:40:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:40:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:40:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:40:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:40:22 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:40:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:40:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:40:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:40:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:40:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:40:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123136m [env.py: 870] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:40:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32033742 -1.12230022 -0.12313638] yaw=-51.1deg [env.py: 1019] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:40:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.8ms [env.py: 1075] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -1.122, -0.123) [env.py: 1079] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 05:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:40:22 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 05:40:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 05:40:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:40:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:40:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:40:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.767s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:40:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.690[m] 76.975[deg] [grasp_sample.py: 539] +05/12 05:40:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:40:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:40:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:40:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:40:46 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:40:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:40:46 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 05:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:40:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:40:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:40:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:40:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:40:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:40:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:40:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:40:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.58s (batch: 3.30s, save: 8.28s) [pipeline.py: 300] +05/12 05:40:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.50s: + episode_total: mean=137.35s, total=137.35s, count=1, min=137349.4ms, max=137349.4ms + sensor_polling: mean=343.9ms, total=90.78s, count=264, min=297.3ms, max=874.7ms + save_trajectories: mean=8.28s, total=8.28s, count=1, min=8276.0ms, max=8276.0ms + physics_step: mean=22.5ms, total=5.94s, count=264, min=15.0ms, max=41.8ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3304.9ms, max=3304.9ms + task_sampling: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms + task_specific_sample: mean=498.7ms, total=498.7ms, count=1, min=498.7ms, max=498.7ms + scene_randomize: mean=989.2us, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=376.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:40:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:40:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:40:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:40:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:40:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:40:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:40:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:40:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:40:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158860m [env.py: 870] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:40:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2785667 -1.03166913 -0.15886043] yaw=-49.2deg [env.py: 1019] +05/12 05:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:41:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.0ms [env.py: 1075] +05/12 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.032, -0.159) [env.py: 1079] +05/12 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:41:00 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 05:41:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 05:41:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:41:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:41:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.546s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:41:00 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.104[m] 12.387[deg] [grasp_sample.py: 539] +05/12 05:41:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:41:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:41:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:41:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.580s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:41:12 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.744[m] 88.817[deg] [grasp_sample.py: 539] +05/12 05:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:14 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:41:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:41:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:41:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:41:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:41:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:41:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:41:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177250m [env.py: 870] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:41:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.7ms, total=189.7ms [env.py: 1105] +05/12 05:41:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:41:15 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:41:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:41:15 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.134[m] 10.428[deg] [grasp_sample.py: 539] +05/12 05:41:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:41:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:41:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:41:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:41:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:41:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:41:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:41:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198196m [env.py: 870] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:41:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1105] +05/12 05:41:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:41:17 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:41:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:41:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:41:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:41:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:41:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:41:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101055m [env.py: 870] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:41:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25644249 -1.07561122 -0.10105522] yaw=-45.9deg [env.py: 1019] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3057196 -1.19203007 -0.10105522] yaw=-36.5deg [env.py: 1019] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.6ms, total=179.7ms [env.py: 1075] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.076, -0.101) [env.py: 1079] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 05:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:41:18 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 05:41:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 05:41:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:41:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:41:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:41:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.345s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:41:26 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.763[m] 75.639[deg] [grasp_sample.py: 539] +05/12 05:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:27 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:41:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:41:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:41:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:41:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:41:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:41:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161354m [env.py: 870] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:41:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30705575 -1.12568035 -0.1613541 ] yaw=-38.1deg [env.py: 1019] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39959211 -1.03258988 -0.1613541 ] yaw=-53.9deg [env.py: 1019] +05/12 05:41:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44743431 -0.95276658 -0.1613541 ] yaw=-53.9deg [env.py: 1019] +05/12 05:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:41:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=338.6ms, total=338.7ms [env.py: 1075] +05/12 05:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -1.126, -0.161) [env.py: 1079] +05/12 05:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/12 05:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 05:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:41:29 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 05:41:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:41:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:41:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:41:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:41:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.715[m] 87.355[deg] [grasp_sample.py: 539] +05/12 05:41:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:41:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:41:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:41:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:41:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:41:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:41:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:41:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.383s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:41:33 INFO: [Worker 0] Feasible grasp found 16 (originally 16): w/ 0.325[m] 14.876[deg] [grasp_sample.py: 539] +05/12 05:41:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:41:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:41:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:41:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:41:34 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:41:50 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/debug/chunk_011 [pipeline.py: 1174] +05/12 05:41:50 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 41102) [pipeline.py: 1213] +05/12 05:41:50 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=False episode_total=6.88s: + episode_total: mean=16.83s, total=353.47s, count=21, min=169.8ms, max=116801.9ms + sensor_polling: mean=346.1ms, total=157.48s, count=455, min=297.7ms, max=539.2ms + physics_step: mean=21.8ms, total=9.94s, count=455, min=14.6ms, max=59.7ms + task_specific_sample: mean=428.5ms, total=9.00s, count=21, min=166.8ms, max=803.0ms + task_sampling: mean=491.5ms, total=6.88s, count=14, min=271.0ms, max=805.3ms + task_sampling_failed: mean=688.5ms, total=4.82s, count=7, min=169.8ms, max=2913.8ms + scene_load: mean=2.64s, total=2.64s, count=1, min=2639.1ms, max=2639.1ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1566.0ms, max=1566.0ms + scene_compile: mean=888.0ms, total=888.0ms, count=1, min=888.0ms, max=888.0ms + compile_mujoco: mean=548.8ms, total=548.8ms, count=1, min=548.8ms, max=548.8ms + compile_xml_load: mean=272.3ms, total=272.3ms, count=1, min=272.3ms, max=272.3ms + scene_init: mean=127.9ms, total=127.9ms, count=1, min=127.9ms, max=127.9ms + scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + asset_install_grasps: mean=43.4ms, total=43.4ms, count=1, min=43.4ms, max=43.4ms + scene_randomize: mean=1.0ms, total=22.0ms, count=21, min=0.9ms, max=1.2ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + mj_forward_sync: mean=424.7us, total=8.9ms, count=21, min=0.4ms, max=0.6ms + compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=16.8us, total=0.2ms, count=14, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=20, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:41:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:41:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:41:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:41:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:41:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:41:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133614m [env.py: 870] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:41:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59734877 -0.8359045 -0.13361355] yaw=-68.0deg [env.py: 1019] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34873521 -1.06197442 -0.13361355] yaw=-42.3deg [env.py: 1019] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:41:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=605.6ms, total=605.7ms [env.py: 1075] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.597, -0.836, -0.134) [env.py: 1079] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 05:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:41:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:41:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:41:52 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 05:41:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 05:41:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:41:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:41:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:41:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.990s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:41:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.723[m] 90.587[deg] [grasp_sample.py: 539] +05/12 05:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:41:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:41:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:42:04 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:42:12 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:42:23 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:42:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:42:23 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 05:42:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:42:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:42:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:42:31 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 05:42:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:42:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:42:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:42:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.58s (batch: 3.92s, save: 10.66s) [pipeline.py: 300] +05/12 05:42:38 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.56s: + episode_total: mean=136.43s, total=136.43s, count=1, min=136428.2ms, max=136428.2ms + sensor_polling: mean=330.1ms, total=89.78s, count=272, min=301.2ms, max=530.9ms + save_trajectories: mean=10.66s, total=10.66s, count=1, min=10664.7ms, max=10664.7ms + physics_step: mean=21.8ms, total=5.92s, count=272, min=15.4ms, max=32.7ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3919.3ms, max=3919.3ms + task_sampling: mean=560.8ms, total=560.8ms, count=1, min=560.8ms, max=560.8ms + task_specific_sample: mean=557.2ms, total=557.2ms, count=1, min=557.2ms, max=557.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=458.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151154m [env.py: 870] +05/12 05:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=241.1ms, total=241.1ms [env.py: 1105] +05/12 05:42:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:42:40 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:42:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146425m [env.py: 870] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=165.1ms, total=165.2ms [env.py: 1105] +05/12 05:42:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:42:41 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176730m [env.py: 870] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:42:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.95s (batch: 3.15s, save: 8.80s) [pipeline.py: 300] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3710576 -0.85330114 -0.17672976] yaw=-48.2deg [env.py: 1019] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:42:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=329.0ms, total=329.0ms [env.py: 1075] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -0.853, -0.177) [env.py: 1079] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/12 05:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:42:43 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 05:42:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 05:42:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:42:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:42:43 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.00s: + episode_total: mean=51.65s, total=154.95s, count=3, min=241.5ms, max=148636.3ms + sensor_polling: mean=378.9ms, total=103.06s, count=272, min=319.6ms, max=636.5ms + save_trajectories: mean=8.80s, total=8.80s, count=1, min=8800.0ms, max=8800.0ms + physics_step: mean=23.3ms, total=6.32s, count=272, min=15.4ms, max=59.5ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3152.1ms, max=3152.1ms + task_specific_sample: mean=409.6ms, total=1.23s, count=3, min=237.6ms, max=578.9ms + task_sampling: mean=502.0ms, total=1.00s, count=2, min=419.6ms, max=584.4ms + task_sampling_failed: mean=241.5ms, total=241.5ms, count=1, min=241.5ms, max=241.5ms + scene_randomize: mean=3.5ms, total=10.6ms, count=3, min=1.0ms, max=6.0ms + mj_forward_sync: mean=508.0us, total=1.5ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=25.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:42:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:42:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.362s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:42:45 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:42:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127028m [env.py: 870] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38943919 -1.08588976 -0.12702785] yaw=-57.3deg [env.py: 1019] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:42:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.5ms [env.py: 1075] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -1.086, -0.127) [env.py: 1079] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 05:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:42:45 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 05:42:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 05:42:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:42:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:42:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:42:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176816m [env.py: 870] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=258.4ms, total=258.4ms [env.py: 1105] +05/12 05:42:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:42:46 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:42:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:42:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.653[m] 88.479[deg] [grasp_sample.py: 539] +05/12 05:42:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136361m [env.py: 870] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36763522 -1.02743184 -0.13636112] yaw=-51.3deg [env.py: 1019] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:42:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.8ms, total=210.9ms [env.py: 1075] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -1.027, -0.136) [env.py: 1079] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 05:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:42:48 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 05:42:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:42:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:42:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:42:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:42:48 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:42:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.454s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:42:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.706[m] 83.009[deg] [grasp_sample.py: 539] +05/12 05:42:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123705m [env.py: 870] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.0ms, total=220.0ms [env.py: 1105] +05/12 05:42:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:42:50 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:42:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:42:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:42:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:42:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:42:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:42:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:42:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:42:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:42:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184358m [env.py: 870] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:42:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30111581 -1.14043565 -0.184358 ] yaw=-42.7deg [env.py: 1019] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:42:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms [env.py: 1075] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -1.140, -0.184) [env.py: 1079] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg [env.py: 1082] +05/12 05:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:42:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:42:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:42:52 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 05:42:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 05:42:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:42:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:42:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:42:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.247s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:42:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.654[m] 84.979[deg] [grasp_sample.py: 539] +05/12 05:42:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:42:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:42:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:43:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:43:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:43:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:43:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:43:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.632s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:43:13 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.080[m] 10.271[deg] [grasp_sample.py: 539] +05/12 05:43:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:43:14 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:43:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:43:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:43:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:43:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:43:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:43:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:43:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.102[m] 15.294[deg] [grasp_sample.py: 539] +05/12 05:43:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:43:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:43:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:43:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:43:33 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 05:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:43:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:43:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:43:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:43:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:43:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.669s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:43:38 INFO: [Worker 0] Feasible grasp found 170 (originally 170): w/ 0.195[m] 19.084[deg] [grasp_sample.py: 539] +05/12 05:43:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:43:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:43:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:43:40 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:43:40 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=False episode_total=0.84s: + episode_total: mean=108.19s, total=108.19s, count=1, min=108187.3ms, max=108187.3ms + sensor_polling: mean=384.2ms, total=66.08s, count=172, min=297.0ms, max=594.3ms + physics_step: mean=24.7ms, total=4.25s, count=172, min=19.4ms, max=61.8ms + task_sampling: mean=842.6ms, total=842.6ms, count=1, min=842.6ms, max=842.6ms + task_specific_sample: mean=838.5ms, total=838.5ms, count=1, min=838.5ms, max=838.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=437.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:43:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:43:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:43:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:43:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:43:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:43:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169851m [env.py: 870] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:43:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=259.9ms, total=259.9ms [env.py: 1105] +05/12 05:43:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:43:41 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:43:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110280m [env.py: 870] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5760738 -0.95647007 -0.11027953] yaw=-73.4deg [env.py: 1019] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2603229 -0.97458895 -0.11027953] yaw=-48.8deg [env.py: 1019] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37120748 -0.99763479 -0.11027953] yaw=-49.9deg [env.py: 1019] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.8ms, total=121.8ms [env.py: 1075] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.956, -0.110) [env.py: 1079] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.4 deg [env.py: 1082] +05/12 05:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:43:43 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 05:43:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 05:43:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:43:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:43:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:43:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.916s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:43:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.686[m] 82.825[deg] [grasp_sample.py: 539] +05/12 05:43:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:43:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:43:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.08s (batch: 3.09s, save: 9.00s) [pipeline.py: 300] +05/12 05:43:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:43:46 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.33s: + episode_total: mean=32.19s, total=160.94s, count=5, min=201.9ms, max=137319.6ms + sensor_polling: mean=337.6ms, total=94.53s, count=280, min=294.4ms, max=621.1ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=8997.0ms, max=8997.0ms + physics_step: mean=22.5ms, total=6.30s, count=280, min=14.8ms, max=45.5ms + save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3087.0ms, max=3087.0ms + task_specific_sample: mean=346.1ms, total=1.73s, count=5, min=196.8ms, max=543.5ms + task_sampling: mean=444.9ms, total=1.33s, count=3, min=367.3ms, max=545.7ms + task_sampling_failed: mean=206.1ms, total=412.3ms, count=2, min=201.9ms, max=210.4ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=1.0ms, max=2.5ms + mj_forward_sync: mean=468.8us, total=2.3ms, count=5, min=0.4ms, max=0.7ms + policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:43:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:43:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:43:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:43:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:43:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:43:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:43:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:43:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197966m [env.py: 870] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:43:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53213896 -0.72816562 -0.19796581] yaw=-57.2deg [env.py: 1019] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47561763 -0.76267499 -0.19796581] yaw=-61.4deg [env.py: 1019] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:43:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.7ms, total=208.7ms [env.py: 1075] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.532, -0.728, -0.198) [env.py: 1079] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/12 05:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:43:47 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 05:43:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 05:43:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:43:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:43:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:43:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:43:49 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:43:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:43:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:43:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:43:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:43:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:43:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106928m [env.py: 870] +05/12 05:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:43:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:43:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.5ms, total=203.5ms [env.py: 1105] +05/12 05:43:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:43:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:43:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:43:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:43:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:43:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171361m [env.py: 870] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=706.7ms, total=706.7ms [env.py: 1105] +05/12 05:43:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:43:53 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:43:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:43:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:43:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:43:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:43:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:43:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189583m [env.py: 870] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:43:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60867986 -0.86335486 -0.18958286] yaw=-70.8deg [env.py: 1019] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28621412 -1.22689444 -0.18958286] yaw=-39.2deg [env.py: 1019] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:43:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=187.8ms, total=187.9ms [env.py: 1075] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.863, -0.190) [env.py: 1079] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg [env.py: 1082] +05/12 05:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:43:55 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 05:43:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 05:43:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:43:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:43:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:43:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:43:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.682[m] 97.116[deg] [grasp_sample.py: 539] +05/12 05:43:58 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:43:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:43:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:43:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:43:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:43:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:43:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:43:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100207m [env.py: 870] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:43:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35549945 -1.18569446 -0.10020689] yaw=-35.3deg [env.py: 1019] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:43:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.6ms, total=224.7ms [env.py: 1075] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.355, -1.186, -0.100) [env.py: 1079] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 05:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:43:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:43:59 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 05:43:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:43:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:43:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:44:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:44:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:44:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.713[m] 85.603[deg] [grasp_sample.py: 539] +05/12 05:44:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:44:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:44:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:44:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:44:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:44:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:44:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:44:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:44:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:44:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:44:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.560s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:44:18 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.546[m] 55.650[deg] [grasp_sample.py: 539] +05/12 05:44:19 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:44:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:44:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:44:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:44:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:44:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:44:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:44:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196977m [env.py: 870] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:44:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22446381 -1.08928736 -0.19697651] yaw=-42.2deg [env.py: 1019] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41024196 -0.86137953 -0.19697651] yaw=-59.1deg [env.py: 1019] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:44:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.3ms, total=216.3ms [env.py: 1075] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -1.089, -0.197) [env.py: 1079] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 05:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:44:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:44:21 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 05:44:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:44:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:44:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:44:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:44:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.398s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:44:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 82.706[deg] [grasp_sample.py: 539] +05/12 05:44:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:44:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:44:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:44:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:44:29 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:44:46 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:44:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:44:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:44:49 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 05:44:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:45:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:45:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.44s (batch: 3.34s, save: 9.10s) [pipeline.py: 300] +05/12 05:45:02 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.98s: + episode_total: mean=27.49s, total=137.46s, count=5, min=173.1ms, max=134622.5ms + sensor_polling: mean=332.2ms, total=91.02s, count=274, min=298.8ms, max=486.7ms + save_trajectories: mean=9.10s, total=9.10s, count=1, min=9098.4ms, max=9098.4ms + physics_step: mean=21.5ms, total=5.88s, count=274, min=19.2ms, max=29.1ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3336.8ms, max=3336.8ms + task_specific_sample: mean=333.0ms, total=1.67s, count=5, min=170.2ms, max=570.4ms + task_sampling: mean=491.7ms, total=983.4ms, count=2, min=410.9ms, max=572.5ms + task_sampling_failed: mean=233.1ms, total=699.2ms, count=3, min=173.0ms, max=270.3ms + scene_randomize: mean=1.4ms, total=7.1ms, count=5, min=1.0ms, max=2.8ms + mj_forward_sync: mean=502.5us, total=2.5ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:45:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:45:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:45:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:45:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:45:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:45:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:45:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182973m [env.py: 870] +05/12 05:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:45:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.2ms, total=189.3ms [env.py: 1105] +05/12 05:45:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:45:04 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:45:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:45:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:45:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:45:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:45:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:45:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:45:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:45:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131944m [env.py: 870] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:45:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4302246 -0.91867167 -0.13194411] yaw=-50.6deg [env.py: 1019] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:45:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.8ms, total=231.9ms [env.py: 1075] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.919, -0.132) [env.py: 1079] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 05:45:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:45:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:45:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:45:05 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 05:45:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 05:45:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:45:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:45:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:45:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:45:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:45:08 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 05:45:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.369s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:45:18 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.749[m] 80.539[deg] [grasp_sample.py: 539] +05/12 05:45:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:45:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:45:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:45:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:45:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:45:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.66s (batch: 3.25s, save: 8.41s) [pipeline.py: 300] +05/12 05:45:20 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.87s: + episode_total: mean=51.00s, total=153.00s, count=3, min=227.8ms, max=149074.6ms + sensor_polling: mean=391.5ms, total=104.13s, count=266, min=325.5ms, max=614.4ms + save_trajectories: mean=8.41s, total=8.41s, count=1, min=8409.9ms, max=8409.9ms + physics_step: mean=23.2ms, total=6.17s, count=266, min=19.4ms, max=66.0ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3246.9ms, max=3246.9ms + task_specific_sample: mean=362.7ms, total=1.09s, count=3, min=224.7ms, max=440.0ms + task_sampling: mean=434.4ms, total=868.7ms, count=2, min=425.5ms, max=443.2ms + task_sampling_failed: mean=227.8ms, total=227.8ms, count=1, min=227.8ms, max=227.8ms + scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=0.9ms, max=1.9ms + mj_forward_sync: mean=424.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:45:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:45:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:45:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:45:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:45:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:45:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:45:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167008m [env.py: 870] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:45:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47352964 -0.76942459 -0.16700843] yaw=-71.2deg [env.py: 1019] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:45:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.6ms [env.py: 1075] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.769, -0.167) [env.py: 1079] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.2 deg [env.py: 1082] +05/12 05:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:45:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:45:22 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 05:45:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 05:45:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:45:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:45:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:45:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:45:24 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:45:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:45:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:45:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:45:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:45:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:45:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:45:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:45:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193377m [env.py: 870] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:45:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59179689 -0.94377317 -0.19337699] yaw=-72.2deg [env.py: 1019] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:45:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1075] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.944, -0.193) [env.py: 1079] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg [env.py: 1082] +05/12 05:45:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:45:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:45:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:45:25 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 05:45:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:45:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:45:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:45:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:45:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:45:27 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.628[m] 97.206[deg] [grasp_sample.py: 539] +05/12 05:45:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:45:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:45:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:35 INFO: [Worker 0] Object is not in grasp! 0.00125 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:45:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:45:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:45:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:45:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 380 non-colliding grasps [grasp_sample.py: 465] +05/12 05:45:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.330s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:45:37 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.056[m] 0.432[deg] [grasp_sample.py: 539] +05/12 05:45:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:45:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:45:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:45:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:45:50 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:45:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:46:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:46:08 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 05:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:46:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:46:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:46:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:46:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.425s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:46:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.204[m] 21.287[deg] [grasp_sample.py: 539] +05/12 05:46:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:46:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:46:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:46:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:46:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.61s (batch: 2.97s, save: 8.63s) [pipeline.py: 300] +05/12 05:46:20 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.39s: + episode_total: mean=29.54s, total=147.69s, count=5, min=214.1ms, max=141079.7ms + sensor_polling: mean=354.3ms, total=99.21s, count=280, min=298.8ms, max=667.7ms + save_trajectories: mean=8.63s, total=8.63s, count=1, min=8631.4ms, max=8631.4ms + physics_step: mean=23.3ms, total=6.52s, count=280, min=18.1ms, max=33.9ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2974.9ms, max=2974.9ms + task_specific_sample: mean=460.5ms, total=2.30s, count=5, min=210.4ms, max=711.4ms + task_sampling: mean=462.9ms, total=1.39s, count=3, min=451.9ms, max=478.6ms + task_sampling_failed: mean=469.0ms, total=938.0ms, count=2, min=214.1ms, max=723.9ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.4ms + mj_forward_sync: mean=458.9us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=20.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:46:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:46:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:46:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:46:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:46:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:46:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:46:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190985m [env.py: 870] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:46:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=594.8ms, total=594.9ms [env.py: 1105] +05/12 05:46:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:46:22 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:46:23 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:46:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:46:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:46:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:46:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:46:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175614m [env.py: 870] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45724688 -1.00364604 -0.17561427] yaw=-49.8deg [env.py: 1019] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.3ms [env.py: 1075] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -1.004, -0.176) [env.py: 1079] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 05:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:46:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:46:24 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 05:46:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 05:46:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:46:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:46:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:46:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.779s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:46:26 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.673[m] 74.444[deg] [grasp_sample.py: 539] +05/12 05:46:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:46:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:46:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:46:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:46:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:46:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:46:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:46:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:46:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:46:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.685s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:46:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.196[m] 20.488[deg] [grasp_sample.py: 539] +05/12 05:46:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:46:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:46:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:38 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:46:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:46:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:46:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:46:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 05:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:46:39 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.048[m] 4.627[deg] [grasp_sample.py: 539] +05/12 05:46:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:46:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:46:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:44 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:46:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:46:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 05:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:46:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:46:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:46:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:46:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:46:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:46:47 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.196[m] 20.490[deg] [grasp_sample.py: 539] +05/12 05:46:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:46:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:46:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:55 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:46:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:46:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:46:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:46:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 329 non-colliding grasps [grasp_sample.py: 465] +05/12 05:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:46:56 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.113[m] 5.659[deg] [grasp_sample.py: 539] +05/12 05:46:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:46:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:46:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:46:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.85s (batch: 3.33s, save: 9.52s) [pipeline.py: 300] +05/12 05:46:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:46:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:46:57 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.78s: + episode_total: mean=64.60s, total=193.81s, count=3, min=283.3ms, max=156680.1ms + sensor_polling: mean=363.1ms, total=127.08s, count=350, min=296.4ms, max=664.3ms + save_trajectories: mean=9.52s, total=9.52s, count=1, min=9522.8ms, max=9522.8ms + physics_step: mean=23.6ms, total=8.24s, count=350, min=14.7ms, max=94.8ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3329.4ms, max=3329.4ms + task_specific_sample: mean=345.7ms, total=1.04s, count=3, min=265.4ms, max=430.6ms + task_sampling: mean=388.3ms, total=776.5ms, count=2, min=343.7ms, max=432.8ms + task_sampling_failed: mean=283.3ms, total=283.3ms, count=1, min=283.3ms, max=283.3ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=1.0ms, max=1.1ms + mj_forward_sync: mean=415.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:46:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:46:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:46:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:46:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:46:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154931m [env.py: 870] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:46:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:46:59 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:46:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.5ms, total=217.5ms [env.py: 1105] +05/12 05:46:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:46:59 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:46:59 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:46:59 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=False episode_total=0.53s: + episode_total: mean=57.20s, total=114.40s, count=2, min=201.0ms, max=114199.3ms + sensor_polling: mean=372.3ms, total=57.33s, count=154, min=291.1ms, max=717.5ms + physics_step: mean=21.7ms, total=3.35s, count=154, min=13.3ms, max=33.9ms + task_specific_sample: mean=360.3ms, total=720.6ms, count=2, min=194.9ms, max=525.7ms + task_sampling: mean=528.5ms, total=528.5ms, count=1, min=528.5ms, max=528.5ms + task_sampling_failed: mean=201.0ms, total=201.0ms, count=1, min=201.0ms, max=201.0ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms + mj_forward_sync: mean=439.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:47:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130233m [env.py: 870] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48647838 -0.96484401 -0.13023293] yaw=-49.2deg [env.py: 1019] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:47:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1075] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.965, -0.130) [env.py: 1079] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:47:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117701m [env.py: 870] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31332917 -0.9663548 -0.11770141] yaw=-40.5deg [env.py: 1019] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32414785 -1.05325257 -0.11770141] yaw=-37.5deg [env.py: 1019] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47569408 -0.97846158 -0.11770141] yaw=-47.2deg [env.py: 1019] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:47:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=180.0ms, total=180.0ms [env.py: 1075] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.966, -0.118) [env.py: 1079] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg [env.py: 1082] +05/12 05:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 05:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:47:01 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 05:47:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 05:47:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:47:01 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 05:47:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 05:47:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:47:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.839s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.727[m] 82.085[deg] [grasp_sample.py: 539] +05/12 05:47:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:47:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:47:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:47:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:47:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.599s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:11 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.163[m] 15.157[deg] [grasp_sample.py: 539] +05/12 05:47:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:47:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:47:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.043s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:16 INFO: [Worker 0] Feasible grasp found 77 (originally 77): w/ 0.755[m] 81.228[deg] [grasp_sample.py: 539] +05/12 05:47:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:17 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:47:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183058m [env.py: 870] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43047804 -0.81281173 -0.1830583 ] yaw=-70.3deg [env.py: 1019] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5013434 -0.94790462 -0.1830583 ] yaw=-54.9deg [env.py: 1019] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:47:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=225.4ms, total=225.4ms [env.py: 1075] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.813, -0.183) [env.py: 1079] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg [env.py: 1082] +05/12 05:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:47:20 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 05:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 05:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:47:21 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:47:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145395m [env.py: 870] +05/12 05:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=285.0ms, total=285.1ms [env.py: 1105] +05/12 05:47:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:47:23 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166530m [env.py: 870] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.2ms, total=222.2ms [env.py: 1105] +05/12 05:47:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:47:24 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:47:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128534m [env.py: 870] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31678887 -1.03758717 -0.12853394] yaw=-43.7deg [env.py: 1019] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55614719 -0.80387928 -0.12853394] yaw=-77.7deg [env.py: 1019] +05/12 05:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:47:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.7ms [env.py: 1075] +05/12 05:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.317, -1.038, -0.129) [env.py: 1079] +05/12 05:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 05:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 05:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:47:26 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 05:47:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:47:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:47:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:47:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:47:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 379 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.865s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:34 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.732[m] 92.056[deg] [grasp_sample.py: 539] +05/12 05:47:35 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:47:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.701s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:35 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.129[m] 5.563[deg] [grasp_sample.py: 539] +05/12 05:47:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:47:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168200m [env.py: 870] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44452405 -0.83107577 -0.16820025] yaw=-51.1deg [env.py: 1019] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:36 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54003353 -0.94709974 -0.16820025] yaw=-65.2deg [env.py: 1019] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:47:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.8ms, total=232.8ms [env.py: 1075] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.831, -0.168) [env.py: 1079] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 05:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:47:37 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 05:47:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:47:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190925m [env.py: 870] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32079974 -1.05493975 -0.19092528] yaw=-38.1deg [env.py: 1019] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1713694 -1.04200316 -0.19092528] yaw=-52.8deg [env.py: 1019] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:47:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.1ms, total=225.1ms [env.py: 1075] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -1.055, -0.191) [env.py: 1079] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/12 05:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:47:38 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 05:47:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:47:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.267s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.704[m] 86.520[deg] [grasp_sample.py: 539] +05/12 05:47:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:47:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:47:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:42 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:47:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:47:43 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:47:43 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.92s: + episode_total: mean=70.02s, total=140.03s, count=2, min=1977.5ms, max=138053.3ms + sensor_polling: mean=404.6ms, total=109.63s, count=271, min=326.1ms, max=645.5ms + physics_step: mean=23.9ms, total=6.48s, count=271, min=14.8ms, max=39.3ms + task_sampling: mean=459.3ms, total=918.7ms, count=2, min=414.8ms, max=503.9ms + task_specific_sample: mean=456.2ms, total=912.3ms, count=2, min=411.2ms, max=501.1ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=407.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:47:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:47:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:47:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119547m [env.py: 870] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45069393 -0.88416672 -0.11954669] yaw=-66.9deg [env.py: 1019] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47664275 -0.87330916 -0.11954669] yaw=-50.4deg [env.py: 1019] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:47:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=566.9ms, total=567.0ms [env.py: 1075] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.884, -0.120) [env.py: 1079] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 05:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 05:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:47:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:47:45 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 05:47:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 05:47:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:47:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:47:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:47:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.216s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:47 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.766[m] 89.818[deg] [grasp_sample.py: 539] +05/12 05:47:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:47:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:47:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:47:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.075s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:47:52 INFO: [Worker 0] Feasible grasp found 135 (originally 135): w/ 0.766[m] 87.169[deg] [grasp_sample.py: 539] +05/12 05:47:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:47:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:47:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:47:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:48:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:48:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:48:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:48:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:48:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:53 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:48:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:48:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:48:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:48:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:48:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:48:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:48:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.464s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:48:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.204[m] 13.124[deg] [grasp_sample.py: 539] +05/12 05:49:00 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.029s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:00 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:49:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189020m [env.py: 870] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125974m [env.py: 870] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1105] +05/12 05:49:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:49:02 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26632468 -1.07482084 -0.12597428] yaw=-52.9deg [env.py: 1019] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53159961 -0.81917693 -0.12597428] yaw=-64.2deg [env.py: 1019] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=297.5ms, total=297.6ms [env.py: 1075] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.075, -0.126) [env.py: 1079] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 05:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:02 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159133m [env.py: 870] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35876997 -1.08970665 -0.15913312] yaw=-39.7deg [env.py: 1019] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.4ms [env.py: 1075] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.090, -0.159) [env.py: 1079] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg [env.py: 1082] +05/12 05:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:04 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.692[m] 84.288[deg] [grasp_sample.py: 539] +05/12 05:49:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.365s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.733[m] 88.497[deg] [grasp_sample.py: 539] +05/12 05:49:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:49:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:49:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:49:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:49:07 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117903m [env.py: 870] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2154589 -1.14362298 -0.11790311] yaw=-36.4deg [env.py: 1019] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53498238 -0.73682704 -0.11790311] yaw=-59.7deg [env.py: 1019] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13164592 -1.0853709 -0.11790311] yaw=-36.0deg [env.py: 1019] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.6ms, total=212.7ms [env.py: 1075] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -1.144, -0.118) [env.py: 1079] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg [env.py: 1082] +05/12 05:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:09 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.423s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:10 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.730[m] 77.956[deg] [grasp_sample.py: 539] +05/12 05:49:11 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191302m [env.py: 870] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59263433 -0.95866888 -0.19130248] yaw=-74.9deg [env.py: 1019] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51013019 -0.84371955 -0.19130248] yaw=-61.8deg [env.py: 1019] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.2ms, total=222.2ms [env.py: 1075] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.959, -0.191) [env.py: 1079] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.9 deg [env.py: 1082] +05/12 05:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:13 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:13 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:49:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:49:13 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 05:49:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.330s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.639[m] 88.404[deg] [grasp_sample.py: 539] +05/12 05:49:16 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104236m [env.py: 870] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46261778 -1.07142698 -0.10423608] yaw=-64.8deg [env.py: 1019] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5457271 -1.01935714 -0.10423608] yaw=-69.4deg [env.py: 1019] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.9ms, total=247.0ms [env.py: 1075] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -1.071, -0.104) [env.py: 1079] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 05:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:17 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.692[m] 95.668[deg] [grasp_sample.py: 539] +05/12 05:49:19 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112048m [env.py: 870] +05/12 05:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42212482 -0.80973928 -0.11204756] yaw=-59.4deg [env.py: 1019] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30161884 -1.03992654 -0.11204756] yaw=-55.5deg [env.py: 1019] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=314.9ms, total=315.0ms [env.py: 1075] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.810, -0.112) [env.py: 1079] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 05:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 05:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:21 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:49:22 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:49:22 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 05:49:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142058m [env.py: 870] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29371472 -1.17780374 -0.1420582 ] yaw=-48.1deg [env.py: 1019] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.3ms [env.py: 1075] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -1.178, -0.142) [env.py: 1079] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 05:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:24 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.671[m] 78.194[deg] [grasp_sample.py: 539] +05/12 05:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:49:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:49:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.78s (batch: 3.55s, save: 10.23s) [pipeline.py: 300] +05/12 05:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105875m [env.py: 870] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:28 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.52s: + episode_total: mean=74.00s, total=148.01s, count=2, min=227.7ms, max=147781.4ms + sensor_polling: mean=359.0ms, total=101.23s, count=282, min=301.4ms, max=771.5ms + save_trajectories: mean=10.23s, total=10.23s, count=1, min=10232.3ms, max=10232.3ms + physics_step: mean=23.0ms, total=6.47s, count=282, min=14.6ms, max=37.2ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.0ms, max=3551.0ms + task_specific_sample: mean=370.3ms, total=740.5ms, count=2, min=223.3ms, max=517.3ms + task_sampling: mean=519.8ms, total=519.8ms, count=1, min=519.8ms, max=519.8ms + task_sampling_failed: mean=227.7ms, total=227.7ms, count=1, min=227.7ms, max=227.7ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=415.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3922298 -1.02651455 -0.10587493] yaw=-58.0deg [env.py: 1019] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59778858 -0.82140574 -0.10587493] yaw=-57.6deg [env.py: 1019] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.027, -0.106) [env.py: 1079] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 05:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:28 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178275m [env.py: 870] +05/12 05:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=232.8ms, total=232.8ms [env.py: 1105] +05/12 05:49:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:49:30 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:49:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.691[m] 90.198[deg] [grasp_sample.py: 539] +05/12 05:49:31 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187653m [env.py: 870] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56161528 -0.70985067 -0.18765288] yaw=-72.5deg [env.py: 1019] +05/12 05:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39186759 -0.95961324 -0.18765288] yaw=-48.3deg [env.py: 1019] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=870.0ms, total=870.0ms [env.py: 1075] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.710, -0.188) [env.py: 1079] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.5 deg [env.py: 1082] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:32 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195113m [env.py: 870] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=238.9ms, total=238.9ms [env.py: 1105] +05/12 05:49:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:49:33 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:49:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:49:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132085m [env.py: 870] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.5ms, total=230.5ms [env.py: 1105] +05/12 05:49:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145647m [env.py: 870] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138735m [env.py: 870] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54715382 -0.94608472 -0.14564685] yaw=-57.4deg [env.py: 1019] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=348.5ms, total=348.5ms [env.py: 1075] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -0.946, -0.146) [env.py: 1079] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg [env.py: 1082] +05/12 05:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 05:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=464.0ms, total=464.1ms [env.py: 1105] +05/12 05:49:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:49:36 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:49:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:36 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153706m [env.py: 870] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41322194 -0.80730388 -0.15370643] yaw=-54.0deg [env.py: 1019] +05/12 05:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=282.3ms, total=282.4ms [env.py: 1075] +05/12 05:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.807, -0.154) [env.py: 1079] +05/12 05:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 05:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/12 05:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:38 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.300s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:49:39 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.640s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:40 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.718[m] 91.031[deg] [grasp_sample.py: 539] +05/12 05:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:49:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:49:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:49:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164242m [env.py: 870] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29111089 -1.13270658 -0.16424152] yaw=-33.3deg [env.py: 1019] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.133, -0.164) [env.py: 1079] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/12 05:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 05:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:49:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:41 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.723[m] 88.007[deg] [grasp_sample.py: 539] +05/12 05:49:44 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:49:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:49:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:49:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:49:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193611m [env.py: 870] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21148541 -1.06082384 -0.19361058] yaw=-33.8deg [env.py: 1019] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:49:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.6ms [env.py: 1075] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -1.061, -0.194) [env.py: 1079] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.8 deg [env.py: 1082] +05/12 05:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:49:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:49:45 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 05:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:49:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:49:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:49:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:49:48 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:49:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.323s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:49:55 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.732[m] 87.193[deg] [grasp_sample.py: 539] +05/12 05:49:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:49:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:49:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:49:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:50:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:50:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:50:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:50:08 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 05:50:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:50:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:50:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:50:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:50:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.51s (batch: 3.07s, save: 8.44s) [pipeline.py: 300] +05/12 05:50:20 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.85s: + episode_total: mean=78.81s, total=236.44s, count=3, min=616.3ms, max=162870.7ms + sensor_polling: mean=400.6ms, total=174.65s, count=436, min=289.8ms, max=787.8ms + physics_step: mean=25.7ms, total=11.21s, count=436, min=14.6ms, max=95.3ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8438.7ms, max=8438.7ms + save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3068.6ms, max=3068.6ms + task_specific_sample: mean=482.7ms, total=1.45s, count=3, min=386.9ms, max=600.8ms + task_sampling: mean=426.4ms, total=852.7ms, count=2, min=390.0ms, max=462.7ms + task_sampling_failed: mean=616.2ms, total=616.2ms, count=1, min=616.2ms, max=616.2ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.6ms + mj_forward_sync: mean=422.7us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:50:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:50:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:50:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:50:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:50:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:50:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:50:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111629m [env.py: 870] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:50:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51642416 -1.0222691 -0.11162941] yaw=-63.2deg [env.py: 1019] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:50:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.0ms, total=257.1ms [env.py: 1075] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -1.022, -0.112) [env.py: 1079] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg [env.py: 1082] +05/12 05:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:50:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:50:22 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 05:50:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 05:50:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:50:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:50:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:50:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.046s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:50:26 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.681[m] 97.951[deg] [grasp_sample.py: 539] +05/12 05:50:28 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:50:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:50:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:50:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:50:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:50:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:50:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:50:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181419m [env.py: 870] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:50:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:50:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=197.5ms, total=197.6ms [env.py: 1105] +05/12 05:50:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:50:29 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:50:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:50:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:50:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:50:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:50:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:50:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:50:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174051m [env.py: 870] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:50:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38274269 -1.01170102 -0.17405091] yaw=-50.6deg [env.py: 1019] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4102835 -1.10024477 -0.17405091] yaw=-39.1deg [env.py: 1019] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49089699 -0.92322692 -0.17405091] yaw=-69.8deg [env.py: 1019] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:50:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.3ms, total=75.4ms [env.py: 1075] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -1.012, -0.174) [env.py: 1079] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 05:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:50:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:50:31 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 05:50:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 05:50:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:50:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:50:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:50:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.462s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:50:34 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.719[m] 93.102[deg] [grasp_sample.py: 539] +05/12 05:50:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:50:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:50:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:50:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:50:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:50:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:50:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:50:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:50:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 05:50:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:51:02 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:51:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:51:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.447s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:51:06 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.046[m] 5.784[deg] [grasp_sample.py: 539] +05/12 05:51:07 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:51:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:51:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:51:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:51:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:51:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:51:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:51:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146912m [env.py: 870] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:51:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50956195 -0.92806705 -0.14691223] yaw=-51.3deg [env.py: 1019] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:51:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.2ms, retries=214.6ms, total=214.7ms [env.py: 1075] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.510, -0.928, -0.147) [env.py: 1079] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 05:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:51:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:51:09 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 05:51:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:51:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:51:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:51:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:51:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:51:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.988s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:51:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 96.478[deg] [grasp_sample.py: 539] +05/12 05:51:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:51:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:51:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:51:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:51:24 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:51:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:51:24 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 05:51:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:51:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:51:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:51:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.74s (batch: 3.95s, save: 10.79s) [pipeline.py: 300] +05/12 05:51:40 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=2.34s: + episode_total: mean=38.78s, total=271.48s, count=7, min=229.9ms, max=157888.0ms + sensor_polling: mean=358.6ms, total=150.62s, count=420, min=289.2ms, max=685.5ms + save_trajectories: mean=10.79s, total=10.79s, count=1, min=10787.9ms, max=10787.9ms + physics_step: mean=23.4ms, total=9.84s, count=420, min=14.6ms, max=57.3ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.3ms, max=3950.3ms + task_specific_sample: mean=406.2ms, total=2.84s, count=7, min=227.0ms, max=553.8ms + task_sampling: mean=468.4ms, total=2.34s, count=5, min=400.7ms, max=557.5ms + task_sampling_failed: mean=262.2ms, total=524.5ms, count=2, min=229.9ms, max=294.6ms + scene_randomize: mean=1.3ms, total=9.4ms, count=7, min=1.0ms, max=2.1ms + mj_forward_sync: mean=476.3us, total=3.3ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:51:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:51:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:51:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:51:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:51:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:51:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:51:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131299m [env.py: 870] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:51:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1735564 -1.13482195 -0.13129853] yaw=-37.9deg [env.py: 1019] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48256697 -0.89696339 -0.13129853] yaw=-53.6deg [env.py: 1019] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:51:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=223.6ms, total=223.6ms [env.py: 1075] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -1.135, -0.131) [env.py: 1079] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 05:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:51:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:51:42 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 05:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 05:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:51:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:51:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:51:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:51:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:51:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.111s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:51:49 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.702[m] 83.792[deg] [grasp_sample.py: 539] +05/12 05:51:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:51:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:51:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:51:56 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:52:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:52:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:52:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:52:16 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:52:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:52:16 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 05:52:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:52:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:52:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.98s (batch: 2.99s, save: 8.99s) [pipeline.py: 300] +05/12 05:52:29 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=5.25s: + episode_total: mean=17.73s, total=265.95s, count=15, min=216.3ms, max=163815.7ms + sensor_polling: mean=395.2ms, total=162.41s, count=411, min=292.8ms, max=658.6ms + physics_step: mean=23.7ms, total=9.73s, count=411, min=14.7ms, max=33.8ms + save_trajectories: mean=8.99s, total=8.99s, count=1, min=8990.7ms, max=8990.7ms + task_specific_sample: mean=425.5ms, total=6.38s, count=15, min=211.0ms, max=783.7ms + task_sampling: mean=477.2ms, total=5.25s, count=11, min=406.5ms, max=786.0ms + save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2989.7ms, max=2989.7ms + task_sampling_failed: mean=295.5ms, total=1.18s, count=4, min=216.3ms, max=480.3ms + scene_randomize: mean=1.2ms, total=17.6ms, count=15, min=0.9ms, max=2.1ms + mj_forward_sync: mean=456.9us, total=6.9ms, count=15, min=0.4ms, max=0.7ms + policy_setup: mean=13.0us, total=0.1ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:52:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:52:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:52:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:52:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:52:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:52:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:52:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:52:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:52:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193368m [env.py: 870] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:52:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=235.0ms, total=235.0ms [env.py: 1105] +05/12 05:52:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:52:30 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:52:30 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:52:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:52:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:52:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:52:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:52:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:52:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:52:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135367m [env.py: 870] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:52:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21683229 -1.16842273 -0.13536669] yaw=-39.9deg [env.py: 1019] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:52:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.4ms, total=205.4ms [env.py: 1075] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.168, -0.135) [env.py: 1079] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/12 05:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:52:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:52:32 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 05:52:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 05:52:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:52:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:52:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:52:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.598s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:52:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.740[m] 89.229[deg] [grasp_sample.py: 539] +05/12 05:52:35 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:52:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:52:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:52:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:52:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:52:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:52:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:52:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134247m [env.py: 870] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:52:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35614285 -1.01471867 -0.13424689] yaw=-43.7deg [env.py: 1019] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:52:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=622.7ms, total=622.7ms [env.py: 1075] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.015, -0.134) [env.py: 1079] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 05:52:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:52:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:52:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:52:37 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 05:52:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 05:52:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:52:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:52:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:52:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:52:43 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.711[m] 90.459[deg] [grasp_sample.py: 539] +05/12 05:52:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:52:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:52:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:52:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:52:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:52:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:52:51 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:52:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:52:51 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 05:52:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:52:54 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:53:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:53:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:53:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.31s (batch: 3.34s, save: 8.97s) [pipeline.py: 300] +05/12 05:53:04 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.87s: + episode_total: mean=53.33s, total=159.98s, count=3, min=206.3ms, max=153868.2ms + sensor_polling: mean=357.2ms, total=100.73s, count=282, min=299.4ms, max=642.0ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8967.5ms, max=8967.5ms + physics_step: mean=23.2ms, total=6.54s, count=282, min=14.7ms, max=34.1ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3340.6ms, max=3340.6ms + task_specific_sample: mean=354.5ms, total=1.06s, count=3, min=202.2ms, max=574.0ms + task_sampling: mean=433.6ms, total=867.2ms, count=2, min=289.5ms, max=577.6ms + task_sampling_failed: mean=206.2ms, total=206.2ms, count=1, min=206.2ms, max=206.2ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=0.9ms, max=2.4ms + mj_forward_sync: mean=384.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:53:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:53:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:53:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:53:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:53:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:53:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:53:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165505m [env.py: 870] +05/12 05:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:53:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42813339 -0.77907979 -0.16550488] yaw=-50.6deg [env.py: 1019] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:53:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.6ms, total=215.7ms [env.py: 1075] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -0.779, -0.166) [env.py: 1079] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 05:53:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 05:53:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:53:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:53:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:53:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:53:06 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 05:53:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 05:53:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:53:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:53:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:53:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.701s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:53:08 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:53:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:53:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:53:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:53:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:53:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:53:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:53:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165824m [env.py: 870] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:53:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37994736 -1.06198785 -0.16582427] yaw=-41.4deg [env.py: 1019] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44509902 -1.07891651 -0.16582427] yaw=-41.5deg [env.py: 1019] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42092146 -0.98793559 -0.16582427] yaw=-64.5deg [env.py: 1019] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:53:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.7ms, total=174.8ms [env.py: 1075] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -1.062, -0.166) [env.py: 1079] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/12 05:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:53:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:53:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:53:09 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 05:53:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:53:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:53:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:53:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:53:15 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:53:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:53:15 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 05:53:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.429s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:53:15 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.647[m] 81.667[deg] [grasp_sample.py: 539] +05/12 05:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:53:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:53:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:53:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:53:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:53:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:53:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.68s (batch: 3.22s, save: 8.46s) [pipeline.py: 300] +05/12 05:53:27 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=2.16s: + episode_total: mean=58.44s, total=233.76s, count=4, min=246.0ms, max=139203.3ms + sensor_polling: mean=353.2ms, total=151.89s, count=430, min=298.8ms, max=591.1ms + physics_step: mean=22.3ms, total=9.60s, count=430, min=19.3ms, max=59.7ms + save_trajectories: mean=8.46s, total=8.46s, count=1, min=8456.1ms, max=8456.1ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3222.6ms, max=3222.6ms + task_specific_sample: mean=598.0ms, total=2.39s, count=4, min=240.6ms, max=1081.0ms + task_sampling: mean=719.7ms, total=2.16s, count=3, min=443.8ms, max=1084.0ms + task_sampling_failed: mean=246.0ms, total=246.0ms, count=1, min=246.0ms, max=246.0ms + scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.1ms, max=2.7ms + mj_forward_sync: mean=478.3us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=15.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:53:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:53:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:53:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129131m [env.py: 870] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44861805 -0.89172472 -0.12913095] yaw=-49.5deg [env.py: 1019] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms [env.py: 1075] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.449, -0.892, -0.129) [env.py: 1079] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 05:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:53:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:53:29 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 05:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 05:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:53:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:53:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:53:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.627s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:53:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.809[m] 78.590[deg] [grasp_sample.py: 539] +05/12 05:53:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:53:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:53:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:53:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:53:36 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:53:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:53:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:53:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:53:57 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:53:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:53:57 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 05:54:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:54:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:54:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:54:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.16s (batch: 3.26s, save: 8.90s) [pipeline.py: 300] +05/12 05:54:09 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.52s: + episode_total: mean=148.24s, total=148.24s, count=1, min=148240.4ms, max=148240.4ms + sensor_polling: mean=354.9ms, total=98.29s, count=277, min=304.6ms, max=642.4ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8904.4ms, max=8904.4ms + physics_step: mean=23.4ms, total=6.48s, count=277, min=19.4ms, max=36.5ms + save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3259.0ms, max=3259.0ms + task_sampling: mean=523.5ms, total=523.5ms, count=1, min=523.5ms, max=523.5ms + task_specific_sample: mean=519.5ms, total=519.5ms, count=1, min=519.5ms, max=519.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=618.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:54:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:54:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:54:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:54:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:54:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:54:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:54:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146354m [env.py: 870] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:54:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30656806 -0.89018483 -0.14635378] yaw=-49.1deg [env.py: 1019] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45364752 -0.81408596 -0.14635378] yaw=-53.3deg [env.py: 1019] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37844378 -1.08917719 -0.14635378] yaw=-45.6deg [env.py: 1019] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:54:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.9ms, total=332.9ms [env.py: 1075] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -0.890, -0.146) [env.py: 1079] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 05:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:54:11 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 05:54:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 05:54:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:54:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:54:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:54:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.102s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:54:13 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:54:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:54:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:54:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:54:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:54:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:54:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:54:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161025m [env.py: 870] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:54:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43658015 -1.07185375 -0.16102474] yaw=-41.8deg [env.py: 1019] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.65654601 -0.89364096 -0.16102474] yaw=-74.7deg [env.py: 1019] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36439708 -1.16276851 -0.16102474] yaw=-44.4deg [env.py: 1019] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:54:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=183.9ms [env.py: 1075] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -1.072, -0.161) [env.py: 1079] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/12 05:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:54:15 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 05:54:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:54:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:54:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:54:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:54:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.857s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:54:21 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.675[m] 84.595[deg] [grasp_sample.py: 539] +05/12 05:54:22 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:54:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:54:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:54:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121452m [env.py: 870] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65410744 -0.91217408 -0.12145155] yaw=-59.1deg [env.py: 1019] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:54:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1075] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.654, -0.912, -0.121) [env.py: 1079] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/12 05:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:54:24 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 05:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 05:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:54:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:54:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.262s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:54:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.718[m] 70.157[deg] [grasp_sample.py: 539] +05/12 05:54:27 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:54:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:54:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:54:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:54:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:54:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:54:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124312m [env.py: 870] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:54:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15610667 -1.04608323 -0.12431223] yaw=-51.6deg [env.py: 1019] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51472769 -0.84328048 -0.12431223] yaw=-65.0deg [env.py: 1019] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:54:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.6ms [env.py: 1075] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.046, -0.124) [env.py: 1079] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 05:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:54:28 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 05:54:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 05:54:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:54:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:54:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:54:30 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:54:30 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 05:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:54:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:54:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:54:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:54:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:54:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144019m [env.py: 870] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:54:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.8ms, total=212.9ms [env.py: 1105] +05/12 05:54:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:54:31 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:54:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:54:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:54:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195874m [env.py: 870] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57227967 -0.89594184 -0.1958741 ] yaw=-66.3deg [env.py: 1019] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36367945 -0.93254348 -0.1958741 ] yaw=-45.8deg [env.py: 1019] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33948864 -0.97939684 -0.1958741 ] yaw=-58.5deg [env.py: 1019] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.3ms, total=189.4ms [env.py: 1075] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.896, -0.196) [env.py: 1079] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 05:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:54:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:54:33 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 05:54:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 05:54:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:54:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:54:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.863s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:54:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.661[m] 96.544[deg] [grasp_sample.py: 539] +05/12 05:54:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:54:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:54:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:54:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:54:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:54:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:54:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:54:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:54:39 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:54:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.002s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:54:45 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.203[m] 9.424[deg] [grasp_sample.py: 539] +05/12 05:54:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:54:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:54:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:54:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:54:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:54:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:54:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:54:59 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:54:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:54:59 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 05:54:59 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:55:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.976s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:05 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.195[m] 8.976[deg] [grasp_sample.py: 539] +05/12 05:55:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:55:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:55:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:55:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:55:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.00s (batch: 3.72s, save: 9.28s) [pipeline.py: 300] +05/12 05:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:13 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=1.31s: + episode_total: mean=53.44s, total=160.33s, count=3, min=247.2ms, max=156750.8ms + sensor_polling: mean=373.0ms, total=104.43s, count=280, min=326.0ms, max=598.4ms + save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.4ms, max=9275.4ms + physics_step: mean=23.2ms, total=6.50s, count=280, min=14.8ms, max=34.1ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3724.4ms, max=3724.4ms + task_specific_sample: mean=514.5ms, total=1.54s, count=3, min=241.2ms, max=852.0ms + task_sampling: mean=653.6ms, total=1.31s, count=2, min=452.9ms, max=854.3ms + task_sampling_failed: mean=247.2ms, total=247.2ms, count=1, min=247.2ms, max=247.2ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=0.9ms, max=2.6ms + mj_forward_sync: mean=412.7us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107379m [env.py: 870] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.6ms, total=174.6ms [env.py: 1105] +05/12 05:55:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:55:14 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:55:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157768m [env.py: 870] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33455536 -1.19522587 -0.15776835] yaw=-45.1deg [env.py: 1019] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:55:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.0ms, total=210.0ms [env.py: 1075] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.195, -0.158) [env.py: 1079] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.1 deg [env.py: 1082] +05/12 05:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:55:16 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 05:55:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 05:55:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:18 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:55:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:55:18 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 05:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:55:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:55:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.759s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.672[m] 82.466[deg] [grasp_sample.py: 539] +05/12 05:55:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:55:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:55:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:55:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:55:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.006s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:25 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.191[m] 8.724[deg] [grasp_sample.py: 539] +05/12 05:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:55:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:55:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:55:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:55:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:55:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.56s (batch: 3.15s, save: 8.41s) [pipeline.py: 300] +05/12 05:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:30 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.85s: + episode_total: mean=71.61s, total=143.22s, count=2, min=2375.2ms, max=140840.0ms + sensor_polling: mean=351.2ms, total=93.43s, count=266, min=303.2ms, max=628.4ms + save_trajectories: mean=8.41s, total=8.41s, count=1, min=8412.5ms, max=8412.5ms + physics_step: mean=23.0ms, total=6.12s, count=266, min=14.9ms, max=35.7ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3147.5ms, max=3147.5ms + task_sampling: mean=424.2ms, total=848.3ms, count=2, min=379.9ms, max=468.5ms + task_specific_sample: mean=421.5ms, total=842.9ms, count=2, min=377.4ms, max=465.5ms + scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=0.9ms, max=1.7ms + mj_forward_sync: mean=394.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145283m [env.py: 870] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4491942 -0.7804392 -0.14528312] yaw=-70.3deg [env.py: 1019] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:55:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.9ms [env.py: 1075] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.449, -0.780, -0.145) [env.py: 1079] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg [env.py: 1082] +05/12 05:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:55:32 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 05:55:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 05:55:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:55:33 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148622m [env.py: 870] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49740764 -0.86220662 -0.14862216] yaw=-62.6deg [env.py: 1019] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:55:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.1ms [env.py: 1075] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.862, -0.149) [env.py: 1079] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 05:55:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:55:35 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 05:55:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 05:55:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:55:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:55:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:55:37 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:55:37 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=0.47s: + episode_total: mean=128.54s, total=128.54s, count=1, min=128542.7ms, max=128542.7ms + sensor_polling: mean=338.4ms, total=58.89s, count=174, min=300.0ms, max=601.6ms + physics_step: mean=21.2ms, total=3.69s, count=174, min=13.5ms, max=29.6ms + task_sampling: mean=468.4ms, total=468.4ms, count=1, min=468.4ms, max=468.4ms + task_specific_sample: mean=464.9ms, total=464.9ms, count=1, min=464.9ms, max=464.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=411.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:55:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.228s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.749[m] 87.409[deg] [grasp_sample.py: 539] +05/12 05:55:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:55:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183384m [env.py: 870] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36644326 -1.11097428 -0.18338381] yaw=-49.2deg [env.py: 1019] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:55:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.8ms, total=204.9ms [env.py: 1075] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.111, -0.183) [env.py: 1079] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 05:55:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:55:39 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 05:55:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 05:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:40 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:55:40 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 05:55:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.944s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:41 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.645[m] 78.617[deg] [grasp_sample.py: 539] +05/12 05:55:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156390m [env.py: 870] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=168.3ms, total=168.4ms [env.py: 1105] +05/12 05:55:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:55:41 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:55:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:55:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:55:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:55:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:55:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150033m [env.py: 870] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27894373 -1.11330675 -0.15003264] yaw=-33.6deg [env.py: 1019] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:55:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=594.3ms, total=594.4ms [env.py: 1075] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.113, -0.150) [env.py: 1079] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg [env.py: 1082] +05/12 05:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:55:43 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 05:55:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 05:55:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.781s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:47 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.722[m] 70.529[deg] [grasp_sample.py: 539] +05/12 05:55:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 05:55:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:55:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:55:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:55:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:55:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:55:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:49 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.067[m] 5.560[deg] [grasp_sample.py: 539] +05/12 05:55:50 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:55:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181417m [env.py: 870] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23042122 -0.98017796 -0.18141749] yaw=-56.7deg [env.py: 1019] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34260745 -1.00701612 -0.18141749] yaw=-47.7deg [env.py: 1019] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:55:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.8ms, total=231.9ms [env.py: 1075] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -0.980, -0.181) [env.py: 1079] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 05:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:55:52 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 05:55:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 05:55:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:55:55 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 05:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114000m [env.py: 870] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57526578 -0.74010055 -0.11400001] yaw=-80.1deg [env.py: 1019] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:55:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=293.1ms, total=293.2ms [env.py: 1075] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.740, -0.114) [env.py: 1079] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.1 deg [env.py: 1082] +05/12 05:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:55:57 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 05:55:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 05:55:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:55:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:55:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:55:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:55:58 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:55:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:55:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:55:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:55:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:55:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:55:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:55:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129569m [env.py: 870] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:55:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 180.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39521376 -1.11126678 -0.12956911] yaw=-55.0deg [env.py: 1019] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38575407 -0.98761846 -0.12956911] yaw=-42.9deg [env.py: 1019] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:56:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=303.3ms, total=303.4ms [env.py: 1075] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.111, -0.130) [env.py: 1079] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 05:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 05:56:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:56:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:56:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:56:00 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 05:56:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:56:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:56:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:56:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:56:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.171s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:56:05 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.669[m] 89.207[deg] [grasp_sample.py: 539] +05/12 05:56:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:56:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:56:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:56:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:56:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:56:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:56:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:56:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:56:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:56:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:56:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:56:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:56:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:57:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:57:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 05:57:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 05:57:23 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:57:27 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:57:28 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:57:45 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:57:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 05:57:45 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 05:57:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:57:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 05:57:48 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 05:57:48 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:57:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 05:57:48 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 05:57:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:57:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:57:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.72s (batch: 3.76s, save: 8.97s) [pipeline.py: 300] +05/12 05:57:58 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.47s: + episode_total: mean=81.41s, total=162.81s, count=2, min=186.0ms, max=162624.5ms + sensor_polling: mean=426.0ms, total=115.02s, count=270, min=316.7ms, max=658.3ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8968.1ms, max=8968.1ms + physics_step: mean=25.7ms, total=6.94s, count=270, min=14.9ms, max=36.5ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3755.3ms, max=3755.3ms + task_specific_sample: mean=325.3ms, total=650.7ms, count=2, min=180.2ms, max=470.4ms + task_sampling: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms + task_sampling_failed: mean=186.0ms, total=186.0ms, count=1, min=186.0ms, max=186.0ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=430.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:57:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:57:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:57:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:57:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:57:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141345m [env.py: 870] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.7ms, total=182.7ms [env.py: 1105] +05/12 05:57:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:57:59 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:58:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:58:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:58:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.97s (batch: 3.42s, save: 8.54s) [pipeline.py: 300] +05/12 05:58:01 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=1.67s: + episode_total: mean=36.32s, total=145.27s, count=4, min=177.6ms, max=137879.5ms + sensor_polling: mean=327.8ms, total=91.46s, count=279, min=304.5ms, max=605.1ms + save_trajectories: mean=8.54s, total=8.54s, count=1, min=8542.9ms, max=8542.9ms + physics_step: mean=21.4ms, total=5.96s, count=279, min=15.8ms, max=38.2ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3424.7ms, max=3424.7ms + task_specific_sample: mean=459.5ms, total=1.84s, count=4, min=173.8ms, max=794.4ms + task_sampling: mean=557.3ms, total=1.67s, count=3, min=422.5ms, max=796.6ms + task_sampling_failed: mean=177.6ms, total=177.6ms, count=1, min=177.6ms, max=177.6ms + scene_randomize: mean=1.3ms, total=5.3ms, count=4, min=1.0ms, max=1.8ms + mj_forward_sync: mean=400.6us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:58:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109579m [env.py: 870] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46368432 -0.91874449 -0.10957869] yaw=-67.3deg [env.py: 1019] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=407.6ms, total=407.7ms [env.py: 1075] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.919, -0.110) [env.py: 1079] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 05:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:58:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:58:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.68s (batch: 3.65s, save: 9.03s) [pipeline.py: 300] +05/12 05:58:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:01 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:02 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.42s: + episode_total: mean=143.09s, total=143.09s, count=1, min=143087.4ms, max=143087.4ms + sensor_polling: mean=363.7ms, total=96.02s, count=264, min=303.3ms, max=684.5ms + save_trajectories: mean=9.03s, total=9.03s, count=1, min=9032.3ms, max=9032.3ms + physics_step: mean=24.2ms, total=6.39s, count=264, min=14.6ms, max=85.4ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3648.6ms, max=3648.6ms + task_sampling: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms + task_specific_sample: mean=420.1ms, total=420.1ms, count=1, min=420.1ms, max=420.1ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:58:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192480m [env.py: 870] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:02 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26908642 -0.91877559 -0.19247984] yaw=-47.6deg [env.py: 1019] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.7ms, total=193.8ms [env.py: 1075] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -0.919, -0.192) [env.py: 1079] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/12 05:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:02 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126691m [env.py: 870] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.6ms, total=192.7ms [env.py: 1105] +05/12 05:58:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:58:03 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:58:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.531s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:58:04 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:58:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129574m [env.py: 870] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39726778 -1.1288204 -0.12957393] yaw=-57.5deg [env.py: 1019] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.9ms, total=177.0ms [env.py: 1075] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -1.129, -0.130) [env.py: 1079] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:05 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126416m [env.py: 870] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48557694 -1.06535671 -0.12641645] yaw=-51.2deg [env.py: 1019] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13769907 -1.00596018 -0.12641645] yaw=-44.2deg [env.py: 1019] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.8ms [env.py: 1075] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -1.065, -0.126) [env.py: 1079] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 05:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 05:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:06 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.644[m] 92.829[deg] [grasp_sample.py: 539] +05/12 05:58:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.776s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.663[m] 84.574[deg] [grasp_sample.py: 539] +05/12 05:58:09 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:58:09 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:58:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125706m [env.py: 870] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134746m [env.py: 870] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.65652898 -0.95026099 -0.12570584] yaw=-65.7deg [env.py: 1019] +05/12 05:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62950473 -0.83293129 -0.13474578] yaw=-68.1deg [env.py: 1019] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.7ms, total=192.8ms [env.py: 1075] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.657, -0.950, -0.126) [env.py: 1079] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40612819 -0.82231503 -0.13474578] yaw=-55.1deg [env.py: 1019] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46009414 -1.05300619 -0.13474578] yaw=-53.9deg [env.py: 1019] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.9ms, total=221.9ms [env.py: 1075] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.630, -0.833, -0.135) [env.py: 1079] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.1 deg [env.py: 1082] +05/12 05:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:11 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:11 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.968s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:11 INFO: [Worker 0] Feasible grasp found 135 (originally 135): w/ 0.747[m] 88.203[deg] [grasp_sample.py: 539] +05/12 05:58:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:58:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:58:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:58:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.474s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.723[m] 88.901[deg] [grasp_sample.py: 539] +05/12 05:58:14 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:58:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149149m [env.py: 870] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47990551 -0.8351368 -0.1491489 ] yaw=-72.8deg [env.py: 1019] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.9ms, total=201.9ms [env.py: 1075] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.835, -0.149) [env.py: 1079] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg [env.py: 1082] +05/12 05:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:15 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.605s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 94.569[deg] [grasp_sample.py: 539] +05/12 05:58:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:58:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:58:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:58:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:58:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 05:58:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 05:58:23 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 05:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:33 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.771[m] 100.423[deg] [grasp_sample.py: 539] +05/12 05:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:34 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 05:58:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 05:58:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.06s (batch: 3.31s, save: 8.74s) [pipeline.py: 300] +05/12 05:58:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102644m [env.py: 870] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.0ms, total=191.0ms [env.py: 1105] +05/12 05:58:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:58:36 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:58:36 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=3.79s: + episode_total: mean=28.33s, total=254.96s, count=9, min=221.6ms, max=156393.6ms + sensor_polling: mean=361.0ms, total=163.54s, count=453, min=300.5ms, max=666.0ms + physics_step: mean=23.0ms, total=10.43s, count=453, min=14.8ms, max=53.3ms + save_trajectories: mean=8.74s, total=8.74s, count=1, min=8744.7ms, max=8744.7ms + task_specific_sample: mean=442.5ms, total=3.98s, count=9, min=217.9ms, max=583.0ms + task_sampling: mean=473.2ms, total=3.79s, count=8, min=397.3ms, max=586.2ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3312.0ms, max=3312.0ms + task_sampling_failed: mean=221.5ms, total=221.5ms, count=1, min=221.5ms, max=221.5ms + scene_randomize: mean=1.2ms, total=10.9ms, count=9, min=1.0ms, max=2.0ms + mj_forward_sync: mean=409.1us, total=3.7ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193003m [env.py: 870] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165639m [env.py: 870] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=323.7ms, total=323.8ms [env.py: 1105] +05/12 05:58:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:58:37 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=485.7ms, total=485.7ms [env.py: 1105] +05/12 05:58:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:58:37 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111219m [env.py: 870] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110562m [env.py: 870] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5656662 -1.01434841 -0.11121862] yaw=-61.8deg [env.py: 1019] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42121019 -0.98221762 -0.11121862] yaw=-56.4deg [env.py: 1019] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.2ms, total=282.2ms [env.py: 1075] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -1.014, -0.111) [env.py: 1079] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg [env.py: 1082] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:39 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38654848 -0.93640865 -0.11056205] yaw=-45.7deg [env.py: 1019] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=508.1ms, total=508.1ms [env.py: 1075] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -0.936, -0.111) [env.py: 1079] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/12 05:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:39 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.176s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.659[m] 82.708[deg] [grasp_sample.py: 539] +05/12 05:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:58:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:58:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:58:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:58:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:58:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.716s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:42 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 67.675[deg] [grasp_sample.py: 539] +05/12 05:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:58:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:58:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.920s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:45 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.756[m] 78.851[deg] [grasp_sample.py: 539] +05/12 05:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:46 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:58:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:58:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:58:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:58:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:58:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102237m [env.py: 870] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:58:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39783114 -0.92230294 -0.10223721] yaw=-64.0deg [env.py: 1019] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:58:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms [env.py: 1075] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -0.922, -0.102) [env.py: 1079] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 05:58:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:58:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:58:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:58:47 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 05:58:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 05:58:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.263s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:54 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.802[m] 89.362[deg] [grasp_sample.py: 539] +05/12 05:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:58:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:58:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:58:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:58:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:58:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:58:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:58:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:58:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.057s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:58:55 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 67.678[deg] [grasp_sample.py: 539] +05/12 05:58:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:58:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:58:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:58:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:59:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:59:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:59:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:59:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:59:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.509[m] 67.678[deg] [grasp_sample.py: 539] +05/12 05:59:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:59:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:59:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 05:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.002s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:59:17 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.533[m] 65.275[deg] [grasp_sample.py: 539] +05/12 05:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 05:59:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 05:59:19 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:59:19 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 05:59:19 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 05:59:19 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=False episode_total=1.33s: + episode_total: mean=24.71s, total=74.14s, count=3, min=2190.1ms, max=68376.4ms + sensor_polling: mean=324.5ms, total=23.69s, count=73, min=304.5ms, max=558.3ms + task_sampling: mean=444.6ms, total=1.33s, count=3, min=435.2ms, max=461.8ms + physics_step: mean=18.2ms, total=1.33s, count=73, min=13.1ms, max=29.8ms + task_specific_sample: mean=441.5ms, total=1.32s, count=3, min=432.1ms, max=458.6ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.4ms, max=1.9ms + mj_forward_sync: mean=456.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=12.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 05:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110873m [env.py: 870] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136740m [env.py: 870] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60479822 -0.74526704 -0.11087343] yaw=-81.7deg [env.py: 1019] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.221s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:59:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.179[m] 17.178[deg] [grasp_sample.py: 539] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=545.7ms, total=545.8ms [env.py: 1075] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.745, -0.111) [env.py: 1079] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.7 deg [env.py: 1082] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48160278 -0.967948 -0.13673988] yaw=-51.8deg [env.py: 1019] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=631.4ms, total=631.4ms [env.py: 1075] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.968, -0.137) [env.py: 1079] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.8 deg [env.py: 1082] +05/12 05:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:59:21 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 05:59:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 05:59:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:59:21 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 05:59:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 05:59:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:22 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:59:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.465s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:59:23 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:59:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:59:23 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.711[m] 83.157[deg] [grasp_sample.py: 539] +05/12 05:59:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110162m [env.py: 870] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5425189 -0.73039288 -0.11016178] yaw=-74.6deg [env.py: 1019] +05/12 05:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45831882 -0.85925001 -0.11016178] yaw=-52.0deg [env.py: 1019] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=333.3ms, total=333.3ms [env.py: 1075] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -0.730, -0.110) [env.py: 1079] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg [env.py: 1082] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115914m [env.py: 870] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:59:24 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 05:59:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.2ms, total=196.3ms [env.py: 1105] +05/12 05:59:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:59:24 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:59:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:24 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 05:59:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157499m [env.py: 870] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2004359 -1.15609264 -0.15749855] yaw=-45.9deg [env.py: 1019] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:59:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195505m [env.py: 870] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:59:25 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53813738 -0.90516211 -0.15749855] yaw=-61.5deg [env.py: 1019] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:59:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=329.4ms, total=329.5ms [env.py: 1075] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.156, -0.157) [env.py: 1079] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 05:59:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=447.0ms, total=447.1ms [env.py: 1105] +05/12 05:59:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 05:59:26 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 05:59:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:59:26 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 05:59:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 05:59:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110524m [env.py: 870] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47656183 -0.95254316 -0.11052444] yaw=-62.5deg [env.py: 1019] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:59:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=261.0ms, total=261.1ms [env.py: 1075] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -0.953, -0.111) [env.py: 1079] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154086m [env.py: 870] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12849141 -1.09551209 -0.15408627] yaw=-41.2deg [env.py: 1019] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:59:27 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51586525 -0.96691378 -0.15408627] yaw=-57.5deg [env.py: 1019] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:59:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1075] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.128, -1.096, -0.154) [env.py: 1079] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/12 05:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 05:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:59:28 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 05:59:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 05:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.131s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:59:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.735[m] 95.833[deg] [grasp_sample.py: 539] +05/12 05:59:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:59:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:59:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:59:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:59:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.721[m] 77.538[deg] [grasp_sample.py: 539] +05/12 05:59:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.386s, found feasible grasp: False [grasp_sample.py: 500] +05/12 05:59:29 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 05:59:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:59:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:59:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:59:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 05:59:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 05:59:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 05:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 05:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 05:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 05:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 05:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 05:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 05:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195293m [env.py: 870] +05/12 05:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 05:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26603033 -1.09680021 -0.19529253] yaw=-38.6deg [env.py: 1019] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 05:59:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=266.2ms, total=266.3ms [env.py: 1075] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.097, -0.195) [env.py: 1079] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.6 deg [env.py: 1082] +05/12 05:59:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 05:59:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 05:59:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 05:59:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 05:59:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 05:59:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 05:59:31 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 05:59:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 05:59:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 05:59:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 05:59:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 05:59:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.601s, found feasible grasp: True [grasp_sample.py: 500] +05/12 05:59:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.692[m] 78.513[deg] [grasp_sample.py: 539] +05/12 05:59:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 05:59:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 05:59:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 05:59:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 05:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 05:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:00:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:00:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:00:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:00:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:00:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 415 non-colliding grasps [grasp_sample.py: 465] +05/12 06:00:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:00:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.045[m] 4.552[deg] [grasp_sample.py: 539] +05/12 06:00:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:00:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:00:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:00:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:00:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:00:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:00:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:00:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:00:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:00:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:00:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 367 non-colliding grasps [grasp_sample.py: 465] +05/12 06:00:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.351s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:00:41 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.535[deg] [grasp_sample.py: 539] +05/12 06:00:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:00:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:00:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:00:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:00:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:00:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:00:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:00:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:00:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.392s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:00:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.113[m] 12.912[deg] [grasp_sample.py: 539] +05/12 06:00:50 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:00:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:00:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:00:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:00:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:00:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:00:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:00:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:00:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:00:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127392m [env.py: 870] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:00:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.0ms, total=193.0ms [env.py: 1105] +05/12 06:00:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:00:51 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:00:51 INFO: [Worker 0] Object is not in grasp! 0.00137 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:00:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:00:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:00:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:00:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 06:00:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:00:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:00:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:00:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:00:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:00:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:00:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:00:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:00:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:00:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117387m [env.py: 870] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:00:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26599 -1.06136793 -0.11738678] yaw=-54.5deg [env.py: 1019] +05/12 06:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:00:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms [env.py: 1075] +05/12 06:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.061, -0.117) [env.py: 1079] +05/12 06:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 06:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 06:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:00:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:00:53 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 06:00:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.444s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:00:53 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.055[m] 8.411[deg] [grasp_sample.py: 539] +05/12 06:00:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 06:00:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:00:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:00:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:00:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:00:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:00:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:00:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:01:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:01:02 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:01:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:01:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.493s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:01:05 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.738[m] 78.874[deg] [grasp_sample.py: 539] +05/12 06:01:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:01:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:01:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:01:10 INFO: [Worker 0] Object is not in grasp! 0.00093 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:01:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:01:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:01:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:01:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/12 06:01:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:01:12 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.066[m] 10.812[deg] [grasp_sample.py: 539] +05/12 06:01:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:01:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:01:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:01:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:01:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:01:26 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:01:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:01:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:01:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:01:28 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:01:34 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:01:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:01:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:01:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.18s (batch: 3.73s, save: 10.44s) [pipeline.py: 300] +05/12 06:01:41 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.21s: + episode_total: mean=60.59s, total=181.77s, count=3, min=496.1ms, max=174277.5ms + sensor_polling: mean=348.4ms, total=104.53s, count=300, min=299.7ms, max=700.1ms + save_trajectories: mean=10.44s, total=10.44s, count=1, min=10443.7ms, max=10443.7ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=14.5ms, max=64.2ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.7ms, max=3732.7ms + task_specific_sample: mean=567.1ms, total=1.70s, count=3, min=438.1ms, max=771.8ms + task_sampling: mean=607.5ms, total=1.21s, count=2, min=440.3ms, max=774.6ms + task_sampling_failed: mean=496.0ms, total=496.0ms, count=1, min=496.0ms, max=496.0ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.0ms, max=2.5ms + mj_forward_sync: mean=430.2us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:01:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:01:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:01:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:01:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:01:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:01:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:01:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110862m [env.py: 870] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:01:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35582635 -1.10556692 -0.11086165] yaw=-43.4deg [env.py: 1019] +05/12 06:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:01:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=582.9ms, total=583.0ms [env.py: 1075] +05/12 06:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.106, -0.111) [env.py: 1079] +05/12 06:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/12 06:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 06:01:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:01:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:01:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:01:43 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 06:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 06:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:01:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:01:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:01:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.666s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:01:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.686[m] 88.794[deg] [grasp_sample.py: 539] +05/12 06:01:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:01:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:01:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:01:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:01:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:01:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:01:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:01:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:01:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:02:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:02:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:02:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:02:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 16.12s (batch: 4.01s, save: 12.11s) [pipeline.py: 300] +05/12 06:02:06 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=3.35s: + episode_total: mean=23.08s, total=230.85s, count=10, min=200.0ms, max=160648.5ms + sensor_polling: mean=358.6ms, total=122.63s, count=342, min=304.3ms, max=670.6ms + save_trajectories: mean=12.11s, total=12.11s, count=1, min=12113.9ms, max=12113.9ms + physics_step: mean=23.2ms, total=7.94s, count=342, min=14.8ms, max=95.0ms + task_specific_sample: mean=426.0ms, total=4.26s, count=10, min=196.3ms, max=892.4ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.0ms, max=4005.0ms + task_sampling: mean=558.4ms, total=3.35s, count=6, min=391.8ms, max=895.4ms + task_sampling_failed: mean=234.9ms, total=939.7ms, count=4, min=200.0ms, max=331.5ms + scene_randomize: mean=1.3ms, total=13.1ms, count=10, min=1.0ms, max=2.2ms + mj_forward_sync: mean=403.3us, total=4.0ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:02:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:02:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:02:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:02:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:02:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:02:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110624m [env.py: 870] +05/12 06:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:02:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37174054 -0.97294781 -0.11062367] yaw=-45.3deg [env.py: 1019] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:02:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=433.4ms, total=433.5ms [env.py: 1075] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.973, -0.111) [env.py: 1079] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 06:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/12 06:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:02:08 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 06:02:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 06:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:02:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:02:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:02:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:02:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:02:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.97s (batch: 3.53s, save: 9.44s) [pipeline.py: 300] +05/12 06:02:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:02:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.788[m] 75.068[deg] [grasp_sample.py: 539] +05/12 06:02:10 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=1.80s: + episode_total: mean=41.55s, total=166.20s, count=4, min=458.0ms, max=159780.2ms + sensor_polling: mean=347.8ms, total=104.35s, count=300, min=300.3ms, max=636.1ms + save_trajectories: mean=9.44s, total=9.44s, count=1, min=9435.5ms, max=9435.5ms + physics_step: mean=23.2ms, total=6.95s, count=300, min=15.2ms, max=37.2ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3531.6ms, max=3531.6ms + task_specific_sample: mean=560.3ms, total=2.24s, count=4, min=450.3ms, max=867.7ms + task_sampling: mean=599.6ms, total=1.80s, count=3, min=452.7ms, max=874.2ms + task_sampling_failed: mean=458.0ms, total=458.0ms, count=1, min=458.0ms, max=458.0ms + mj_forward_sync: mean=1.5ms, total=5.8ms, count=4, min=0.4ms, max=4.4ms + scene_randomize: mean=1.1ms, total=4.6ms, count=4, min=1.0ms, max=1.3ms + policy_setup: mean=11.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:02:11 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:02:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:02:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:02:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:02:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:02:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:02:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:02:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106558m [env.py: 870] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:02:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37362047 -1.10679919 -0.10655795] yaw=-37.8deg [env.py: 1019] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:02:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.7ms [env.py: 1075] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.107, -0.107) [env.py: 1079] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:02:12 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 06:02:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 06:02:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:02:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:02:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:02:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:02:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:02:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:02:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:02:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127083m [env.py: 870] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:02:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.1ms, total=200.2ms [env.py: 1105] +05/12 06:02:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:02:12 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:02:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:02:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:02:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:02:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:02:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:02:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106633m [env.py: 870] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:02:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11659694 -1.06688679 -0.10663346] yaw=-31.1deg [env.py: 1019] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:02:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.2ms, total=232.2ms [env.py: 1075] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -1.067, -0.107) [env.py: 1079] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.1 deg [env.py: 1082] +05/12 06:02:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:02:14 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 06:02:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.981s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:02:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 82.222[deg] [grasp_sample.py: 539] +05/12 06:02:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:02:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:02:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:02:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:02:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:02:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:02:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:02:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:02:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:02:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.398s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:02:16 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:02:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:02:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:02:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:02:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:02:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:02:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118912m [env.py: 870] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:02:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35557712 -1.03687757 -0.11891199] yaw=-51.5deg [env.py: 1019] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:02:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.5ms, total=233.5ms [env.py: 1075] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.037, -0.119) [env.py: 1079] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/12 06:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:02:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:02:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:02:17 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 06:02:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:02:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:02:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:02:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:02:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.460s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:02:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.705[m] 81.403[deg] [grasp_sample.py: 539] +05/12 06:02:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:02:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:02:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:02:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:02:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:02:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:02:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:02:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:02:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:02:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:02:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 396 non-colliding grasps [grasp_sample.py: 465] +05/12 06:02:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.572s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:02:58 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.120[m] 4.878[deg] [grasp_sample.py: 539] +05/12 06:02:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:02:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:02:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:09 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:03:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:03:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:03:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:03:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:03:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:03:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:03:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:03:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/12 06:03:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.357s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:03:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.135[m] 3.837[deg] [grasp_sample.py: 539] +05/12 06:03:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:03:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:03:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:03:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:03:29 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 06:03:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:03:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:03:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:03:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.25s (batch: 3.33s, save: 8.92s) [pipeline.py: 300] +05/12 06:03:42 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=2.28s: + episode_total: mean=56.04s, total=336.26s, count=6, min=194.3ms, max=169670.5ms + sensor_polling: mean=402.9ms, total=219.58s, count=545, min=317.6ms, max=670.7ms + physics_step: mean=24.6ms, total=13.39s, count=545, min=15.2ms, max=40.7ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8920.3ms, max=8920.3ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3332.3ms, max=3332.3ms + task_specific_sample: mean=443.0ms, total=2.66s, count=6, min=188.5ms, max=677.0ms + task_sampling: mean=570.9ms, total=2.28s, count=4, min=470.3ms, max=680.6ms + task_sampling_failed: mean=198.3ms, total=396.6ms, count=2, min=194.3ms, max=202.3ms + scene_randomize: mean=1.4ms, total=8.2ms, count=6, min=1.0ms, max=2.6ms + mj_forward_sync: mean=415.8us, total=2.5ms, count=6, min=0.4ms, max=0.5ms + policy_setup: mean=13.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:03:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:03:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:03:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:03:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:03:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:03:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:03:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118073m [env.py: 870] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:03:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3732351 -1.04012459 -0.11807325] yaw=-57.2deg [env.py: 1019] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29478333 -0.97057986 -0.11807325] yaw=-60.2deg [env.py: 1019] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:03:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms [env.py: 1075] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.373, -1.040, -0.118) [env.py: 1079] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/12 06:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:03:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:03:44 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 06:03:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 06:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:03:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:03:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:03:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:03:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.720[m] 96.848[deg] [grasp_sample.py: 539] +05/12 06:03:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:03:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:03:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:03:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:03:54 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 06:03:54 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=0.88s: + episode_total: mean=131.58s, total=131.58s, count=1, min=131584.8ms, max=131584.8ms + sensor_polling: mean=363.7ms, total=109.11s, count=300, min=301.2ms, max=609.2ms + physics_step: mean=23.4ms, total=7.02s, count=300, min=15.3ms, max=72.4ms + task_sampling: mean=878.2ms, total=878.2ms, count=1, min=878.2ms, max=878.2ms + task_specific_sample: mean=873.6ms, total=873.6ms, count=1, min=873.6ms, max=873.6ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=543.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:03:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:03:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:03:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:03:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:03:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:03:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:03:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153708m [env.py: 870] +05/12 06:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:03:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34009678 -0.9905437 -0.15370803] yaw=-51.9deg [env.py: 1019] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:03:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=373.6ms, total=373.7ms [env.py: 1075] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -0.991, -0.154) [env.py: 1079] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 06:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 06:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:03:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:03:56 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 06:03:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:03:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:03:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:03:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:03:57 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:04:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.265s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:04:02 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.743[m] 87.802[deg] [grasp_sample.py: 539] +05/12 06:04:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:04:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:04:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:04:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:04:09 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:04:18 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:04:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:04:18 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 06:04:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:04:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:04:27 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 06:04:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:04:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:04:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.55s (batch: 3.64s, save: 10.91s) [pipeline.py: 300] +05/12 06:04:34 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.41s: + episode_total: mean=142.12s, total=142.12s, count=1, min=142121.6ms, max=142121.6ms + sensor_polling: mean=327.7ms, total=91.10s, count=278, min=297.2ms, max=571.7ms + save_trajectories: mean=10.91s, total=10.91s, count=1, min=10906.7ms, max=10906.7ms + physics_step: mean=21.9ms, total=6.08s, count=278, min=16.1ms, max=35.8ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3638.2ms, max=3638.2ms + task_sampling: mean=408.5ms, total=408.5ms, count=1, min=408.5ms, max=408.5ms + task_specific_sample: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=437.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:04:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111079m [env.py: 870] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60946244 -0.86904871 -0.11107904] yaw=-77.3deg [env.py: 1019] +05/12 06:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26176737 -1.01804914 -0.11107904] yaw=-46.0deg [env.py: 1019] +05/12 06:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:04:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=478.1ms, total=478.2ms [env.py: 1075] +05/12 06:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.869, -0.111) [env.py: 1079] +05/12 06:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.3 deg [env.py: 1082] +05/12 06:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/12 06:04:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:04:36 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 06:04:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 06:04:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:04:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:04:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:04:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:04:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:04:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.56s (batch: 3.00s, save: 8.57s) [pipeline.py: 300] +05/12 06:04:39 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=1.59s: + episode_total: mean=37.00s, total=147.99s, count=4, min=208.9ms, max=142334.8ms + sensor_polling: mean=356.0ms, total=97.89s, count=275, min=305.5ms, max=693.3ms + save_trajectories: mean=8.57s, total=8.57s, count=1, min=8567.4ms, max=8567.4ms + physics_step: mean=23.4ms, total=6.44s, count=275, min=15.1ms, max=36.0ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2995.8ms, max=2995.8ms + task_specific_sample: mean=446.6ms, total=1.79s, count=4, min=204.8ms, max=664.5ms + task_sampling: mean=530.4ms, total=1.59s, count=3, min=436.3ms, max=669.3ms + task_sampling_failed: mean=208.8ms, total=208.8ms, count=1, min=208.8ms, max=208.8ms + scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=0.9ms, max=3.3ms + mj_forward_sync: mean=502.2us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=18.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:04:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157950m [env.py: 870] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42018803 -1.02086187 -0.15794969] yaw=-45.4deg [env.py: 1019] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1075] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -1.021, -0.158) [env.py: 1079] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 06:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:04:41 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 06:04:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 06:04:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:04:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:04:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:04:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.324s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:04:41 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.749[m] 94.048[deg] [grasp_sample.py: 539] +05/12 06:04:43 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:04:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186032m [env.py: 870] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=175.3ms, total=175.3ms [env.py: 1105] +05/12 06:04:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:04:44 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:04:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.746s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:04:45 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.679[m] 80.996[deg] [grasp_sample.py: 539] +05/12 06:04:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153754m [env.py: 870] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18756096 -1.10525946 -0.15375428] yaw=-40.1deg [env.py: 1019] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:04:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.2ms [env.py: 1075] +05/12 06:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -1.105, -0.154) [env.py: 1079] +05/12 06:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/12 06:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 06:04:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:04:46 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 06:04:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 06:04:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:04:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:04:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:04:46 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:04:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.391s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:04:47 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.745[m] 78.032[deg] [grasp_sample.py: 539] +05/12 06:04:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:04:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123461m [env.py: 870] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:04:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=359.1ms, total=359.1ms [env.py: 1105] +05/12 06:04:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:04:48 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:04:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:04:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:04:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103518m [env.py: 870] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=218.3ms, total=218.3ms [env.py: 1105] +05/12 06:04:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:04:49 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:04:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123758m [env.py: 870] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=228.5ms, total=228.5ms [env.py: 1105] +05/12 06:04:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:04:51 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:04:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162509m [env.py: 870] +05/12 06:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=210.5ms, total=210.5ms [env.py: 1105] +05/12 06:04:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:04:53 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:04:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119123m [env.py: 870] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.8ms, total=211.8ms [env.py: 1105] +05/12 06:04:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:04:54 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:04:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136299m [env.py: 870] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26089441 -0.93544998 -0.13629913] yaw=-43.7deg [env.py: 1019] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37924917 -1.10696226 -0.13629913] yaw=-37.4deg [env.py: 1019] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:04:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.6ms, total=225.6ms [env.py: 1075] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -0.935, -0.136) [env.py: 1079] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 06:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:04:56 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 06:04:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:04:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:04:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:04:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:04:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:04:58 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:04:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:04:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:04:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:04:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:04:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:04:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:04:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117903m [env.py: 870] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:04:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23348067 -1.10634932 -0.11790307] yaw=-41.6deg [env.py: 1019] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:04:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=208.5ms, total=208.6ms [env.py: 1075] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.233, -1.106, -0.118) [env.py: 1079] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg [env.py: 1082] +05/12 06:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:04:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:04:59 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 06:05:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 06:05:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:05:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:05:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:05:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.586s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:05:01 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.721[m] 87.596[deg] [grasp_sample.py: 539] +05/12 06:05:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:05:02 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:05:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:05:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:05:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:05:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:05:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:05:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184388m [env.py: 870] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=520.2ms, total=520.3ms [env.py: 1105] +05/12 06:05:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:05:04 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:05:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:05:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:05:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:05:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:05:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:05:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:05:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167984m [env.py: 870] +05/12 06:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:05:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52016267 -0.87682538 -0.16798362] yaw=-59.5deg [env.py: 1019] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60774928 -0.91791597 -0.16798362] yaw=-67.0deg [env.py: 1019] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:05:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=489.1ms, total=489.2ms [env.py: 1075] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.877, -0.168) [env.py: 1079] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/12 06:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 06:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:05:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:05:06 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 06:05:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:05:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:05:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:05:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:05:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:05:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.595s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:05:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.716[m] 80.081[deg] [grasp_sample.py: 539] +05/12 06:05:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:05:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:05:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:05:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:05:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:05:43 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:05:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:05:51 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:05:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:02 INFO: [Worker 0] Object is not in grasp! 0.00194 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:06:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:06:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:06:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:06:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 382 non-colliding grasps [grasp_sample.py: 465] +05/12 06:06:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:06:03 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.041[m] 0.505[deg] [grasp_sample.py: 539] +05/12 06:06:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:06:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:06:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:07 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:06:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:06:07 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 06:06:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:06:15 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:06:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:06:15 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 06:06:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:06:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:06:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:06:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.91s (batch: 3.93s, save: 9.98s) [pipeline.py: 300] +05/12 06:06:21 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.50s: + episode_total: mean=157.97s, total=157.97s, count=1, min=157974.3ms, max=157974.3ms + sensor_polling: mean=371.4ms, total=104.75s, count=282, min=320.2ms, max=595.0ms + save_trajectories: mean=9.98s, total=9.98s, count=1, min=9975.7ms, max=9975.7ms + physics_step: mean=22.7ms, total=6.40s, count=282, min=14.9ms, max=51.4ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3933.3ms, max=3933.3ms + task_sampling: mean=496.1ms, total=496.1ms, count=1, min=496.1ms, max=496.1ms + task_specific_sample: mean=492.3ms, total=492.3ms, count=1, min=492.3ms, max=492.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=437.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:06:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:06:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:06:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:06:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116904m [env.py: 870] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37808604 -0.92355367 -0.11690446] yaw=-60.9deg [env.py: 1019] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:06:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=292.0ms, total=292.1ms [env.py: 1075] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -0.924, -0.117) [env.py: 1079] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 06:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:06:23 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 06:06:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:06:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:06:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:06:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:06:25 INFO: [Worker 0] Object is not in grasp! 0.00118 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:06:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:06:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:06:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 366 non-colliding grasps [grasp_sample.py: 465] +05/12 06:06:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.881s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:06:26 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.742[m] 85.746[deg] [grasp_sample.py: 539] +05/12 06:06:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:06:26 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.045[m] 0.613[deg] [grasp_sample.py: 539] +05/12 06:06:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:06:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:06:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:06:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.90s (batch: 3.23s, save: 8.66s) [pipeline.py: 300] +05/12 06:06:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:06:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:27 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.62s: + episode_total: mean=151.87s, total=151.87s, count=1, min=151866.3ms, max=151866.3ms + sensor_polling: mean=349.8ms, total=99.68s, count=285, min=298.5ms, max=646.3ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8663.9ms, max=8663.9ms + physics_step: mean=22.8ms, total=6.50s, count=285, min=15.5ms, max=100.4ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3231.2ms, max=3231.2ms + task_sampling: mean=615.1ms, total=615.1ms, count=1, min=615.1ms, max=615.1ms + task_specific_sample: mean=611.2ms, total=611.2ms, count=1, min=611.2ms, max=611.2ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=625.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:06:27 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:06:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:06:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:06:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:06:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:06:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:06:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:06:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163182m [env.py: 870] +05/12 06:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:06:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:06:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:06:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:06:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:06:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192481m [env.py: 870] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45711098 -1.04077666 -0.16318159] yaw=-43.4deg [env.py: 1019] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=204.9ms [env.py: 1075] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -1.041, -0.163) [env.py: 1079] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47480028 -0.75911242 -0.19248082] yaw=-61.4deg [env.py: 1019] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29091252 -0.99232514 -0.19248082] yaw=-43.1deg [env.py: 1019] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:06:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:06:29 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46332335 -0.85262552 -0.19248082] yaw=-62.5deg [env.py: 1019] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=387.4ms, total=387.4ms [env.py: 1075] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.759, -0.192) [env.py: 1079] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/12 06:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 06:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:06:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:06:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:06:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:06:29 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 06:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 06:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:06:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:06:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:06:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.442s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:06:31 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:06:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:06:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:06:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:06:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:06:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:06:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147133m [env.py: 870] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:06:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50340901 -0.96598185 -0.14713308] yaw=-58.2deg [env.py: 1019] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61503192 -0.79129266 -0.14713308] yaw=-72.7deg [env.py: 1019] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28644831 -1.16885481 -0.14713308] yaw=-49.0deg [env.py: 1019] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:06:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.3ms, total=165.3ms [env.py: 1075] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.966, -0.147) [env.py: 1079] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 06:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:06:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:06:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:06:32 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 06:06:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:06:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:06:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:06:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:06:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:06:34 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.648[m] 88.120[deg] [grasp_sample.py: 539] +05/12 06:06:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:06:34 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.679[m] 85.931[deg] [grasp_sample.py: 539] +05/12 06:06:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:06:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:06:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:06:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:06:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:06:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:06:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:06:47 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:06:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:06:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:06:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:06:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:06:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:06:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:02 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:07:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:07:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.640s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.495[m] 58.222[deg] [grasp_sample.py: 539] +05/12 06:07:07 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155693m [env.py: 870] +05/12 06:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65418984 -0.96683307 -0.15569345] yaw=-64.1deg [env.py: 1019] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=489.8ms, total=489.9ms [env.py: 1075] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.654, -0.967, -0.156) [env.py: 1079] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 06:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 06:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:09 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:10 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:07:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:07:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:07:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.720s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.642[m] 78.780[deg] [grasp_sample.py: 539] +05/12 06:07:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:07:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:07:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:07:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:07:22 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 06:07:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:07:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:07:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.69s (batch: 3.83s, save: 9.86s) [pipeline.py: 300] +05/12 06:07:24 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=1.06s: + episode_total: mean=55.40s, total=166.19s, count=3, min=183.6ms, max=158427.2ms + sensor_polling: mean=356.5ms, total=106.95s, count=300, min=301.6ms, max=672.1ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9857.9ms, max=9857.9ms + physics_step: mean=22.8ms, total=6.85s, count=300, min=15.6ms, max=52.8ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.9ms, max=3828.9ms + task_specific_sample: mean=412.8ms, total=1.24s, count=3, min=180.0ms, max=700.0ms + task_sampling: mean=532.1ms, total=1.06s, count=2, min=360.6ms, max=703.6ms + task_sampling_failed: mean=183.5ms, total=183.5ms, count=1, min=183.5ms, max=183.5ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=0.9ms, max=2.5ms + mj_forward_sync: mean=393.0us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:07:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158090m [env.py: 870] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68528116 -0.96601055 -0.15808988] yaw=-63.1deg [env.py: 1019] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.5ms [env.py: 1075] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.685, -0.966, -0.158) [env.py: 1079] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/12 06:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:25 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:07:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.859s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:27 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.621[m] 90.081[deg] [grasp_sample.py: 539] +05/12 06:07:29 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:07:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110124m [env.py: 870] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54421836 -0.93994628 -0.11012447] yaw=-71.9deg [env.py: 1019] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.8ms, total=202.9ms [env.py: 1075] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -0.940, -0.110) [env.py: 1079] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 06:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:30 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.403s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.716[m] 79.874[deg] [grasp_sample.py: 539] +05/12 06:07:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:07:33 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:07:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:07:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:07:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.50s (batch: 3.81s, save: 8.69s) [pipeline.py: 300] +05/12 06:07:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169098m [env.py: 870] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38705088 -0.87016852 -0.1690982 ] yaw=-65.4deg [env.py: 1019] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41913987 -0.80243594 -0.1690982 ] yaw=-63.9deg [env.py: 1019] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34720378 -1.11549012 -0.1690982 ] yaw=-51.5deg [env.py: 1019] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.1ms [env.py: 1075] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -0.870, -0.169) [env.py: 1079] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 06:07:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:35 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:35 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=2.05s: + episode_total: mean=16.19s, total=161.90s, count=10, min=218.5ms, max=149223.6ms + sensor_polling: mean=374.7ms, total=103.41s, count=276, min=304.1ms, max=612.2ms + save_trajectories: mean=8.69s, total=8.69s, count=1, min=8686.7ms, max=8686.7ms + physics_step: mean=23.3ms, total=6.44s, count=276, min=19.5ms, max=32.4ms + task_specific_sample: mean=382.2ms, total=3.82s, count=10, min=215.6ms, max=705.6ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3808.6ms, max=3808.6ms + task_sampling: mean=512.5ms, total=2.05s, count=4, min=441.0ms, max=708.3ms + task_sampling_failed: mean=300.3ms, total=1.80s, count=6, min=218.4ms, max=530.4ms + scene_randomize: mean=1.2ms, total=12.3ms, count=10, min=1.0ms, max=2.2ms + mj_forward_sync: mean=526.9us, total=5.3ms, count=10, min=0.4ms, max=0.8ms + policy_setup: mean=15.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:07:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128681m [env.py: 870] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=369.9ms, total=369.9ms [env.py: 1105] +05/12 06:07:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:07:36 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:07:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175790m [env.py: 870] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28222712 -1.04730497 -0.17578999] yaw=-37.5deg [env.py: 1019] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=395.4ms, total=395.5ms [env.py: 1075] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.047, -0.176) [env.py: 1079] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 06:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.392s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:38 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.776[m] 85.390[deg] [grasp_sample.py: 539] +05/12 06:07:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:38 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:39 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:07:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124373m [env.py: 870] +05/12 06:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.7ms, total=222.7ms [env.py: 1105] +05/12 06:07:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:07:41 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:07:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:07:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:42 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.727[m] 87.250[deg] [grasp_sample.py: 539] +05/12 06:07:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150839m [env.py: 870] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54968195 -0.74224184 -0.1508387 ] yaw=-58.7deg [env.py: 1019] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.3ms [env.py: 1075] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.742, -0.151) [env.py: 1079] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/12 06:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:42 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:43 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:07:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.292s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:07:44 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:07:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191609m [env.py: 870] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=333.2ms, total=333.2ms [env.py: 1105] +05/12 06:07:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:07:45 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:07:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140210m [env.py: 870] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34885168 -1.1123027 -0.14020964] yaw=-44.8deg [env.py: 1019] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30069028 -1.02403138 -0.14020964] yaw=-46.1deg [env.py: 1019] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43972127 -0.85077101 -0.14020964] yaw=-68.3deg [env.py: 1019] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.6ms, total=202.7ms [env.py: 1075] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -1.112, -0.140) [env.py: 1079] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/12 06:07:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:46 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:07:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:07:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:07:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:07:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:07:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:07:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170264m [env.py: 870] +05/12 06:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:07:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43655974 -1.02055698 -0.1702636 ] yaw=-50.1deg [env.py: 1019] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:07:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.4ms, total=232.5ms [env.py: 1075] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -1.021, -0.170) [env.py: 1079] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/12 06:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 06:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:07:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:07:47 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 06:07:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:07:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:07:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:07:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:47 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 78.587[deg] [grasp_sample.py: 539] +05/12 06:07:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:07:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:07:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:07:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:07:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:07:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.014s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:07:50 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.640[m] 84.265[deg] [grasp_sample.py: 539] +05/12 06:07:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:07:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:07:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:07:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:07:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:08:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:08:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:08:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:08:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:08:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/12 06:08:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:08:22 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.053[m] 2.126[deg] [grasp_sample.py: 539] +05/12 06:08:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:08:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:08:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:08:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:08:42 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:08:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:08:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:08:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:09:02 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:09:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:09:02 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 06:09:06 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:09:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:09:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:09:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.94s (batch: 3.48s, save: 9.46s) [pipeline.py: 300] +05/12 06:09:15 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.99s: + episode_total: mean=85.68s, total=171.36s, count=2, min=4680.2ms, max=166677.7ms + sensor_polling: mean=412.6ms, total=110.17s, count=267, min=317.4ms, max=722.5ms + save_trajectories: mean=9.46s, total=9.46s, count=1, min=9461.3ms, max=9461.3ms + physics_step: mean=24.4ms, total=6.50s, count=267, min=15.0ms, max=66.2ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3480.1ms, max=3480.1ms + task_sampling: mean=492.6ms, total=985.1ms, count=2, min=422.9ms, max=562.3ms + task_specific_sample: mean=489.1ms, total=978.1ms, count=2, min=420.2ms, max=558.0ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.0ms, max=2.8ms + mj_forward_sync: mean=489.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:09:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167631m [env.py: 870] +05/12 06:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61190087 -0.96687258 -0.16763141] yaw=-60.7deg [env.py: 1019] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:09:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=316.0ms, total=316.0ms [env.py: 1075] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.967, -0.168) [env.py: 1079] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/12 06:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 06:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:09:17 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 06:09:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 06:09:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:09:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:09:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:09:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:09:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.641[m] 87.361[deg] [grasp_sample.py: 539] +05/12 06:09:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:09:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:09:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:09:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:09:24 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:09:29 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:09:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:09:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:09:35 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:09:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:09:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:09:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.84s (batch: 3.84s, save: 10.00s) [pipeline.py: 300] +05/12 06:09:44 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.81s: + episode_total: mean=64.29s, total=192.86s, count=3, min=2297.4ms, max=155457.8ms + sensor_polling: mean=345.1ms, total=121.82s, count=353, min=289.1ms, max=651.6ms + save_trajectories: mean=10.00s, total=10.00s, count=1, min=9997.8ms, max=9997.8ms + physics_step: mean=22.5ms, total=7.94s, count=353, min=14.5ms, max=107.7ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3838.2ms, max=3838.2ms + task_sampling: mean=603.7ms, total=1.81s, count=3, min=415.7ms, max=751.4ms + task_specific_sample: mean=600.4ms, total=1.80s, count=3, min=412.5ms, max=748.6ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.5ms + mj_forward_sync: mean=541.5us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:09:44 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:09:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:09:44 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 06:09:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104488m [env.py: 870] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.0ms, total=199.0ms [env.py: 1105] +05/12 06:09:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:09:45 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:09:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156882m [env.py: 870] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=168.0ms, total=168.0ms [env.py: 1105] +05/12 06:09:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:09:47 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:09:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148793m [env.py: 870] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.8ms, total=171.9ms [env.py: 1105] +05/12 06:09:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:09:48 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:09:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110017m [env.py: 870] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29939714 -0.85369752 -0.11001675] yaw=-46.5deg [env.py: 1019] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38800791 -1.12924203 -0.11001675] yaw=-52.8deg [env.py: 1019] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27390558 -0.91089124 -0.11001675] yaw=-39.7deg [env.py: 1019] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:09:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.4ms [env.py: 1075] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.854, -0.110) [env.py: 1079] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 06:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:09:50 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 06:09:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 06:09:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:09:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:09:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:09:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.542s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:09:52 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:09:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168653m [env.py: 870] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:53 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:09:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:09:53 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 06:09:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=241.0ms, total=241.1ms [env.py: 1105] +05/12 06:09:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:09:53 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:09:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157976m [env.py: 870] +05/12 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1105] +05/12 06:09:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:09:55 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:09:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176454m [env.py: 870] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42518093 -0.99093393 -0.17645365] yaw=-57.4deg [env.py: 1019] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:09:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.5ms, total=220.5ms [env.py: 1075] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.991, -0.176) [env.py: 1079] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg [env.py: 1082] +05/12 06:09:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:09:56 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 06:09:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 06:09:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:09:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:09:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:09:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:09:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.27s (batch: 3.57s, save: 8.69s) [pipeline.py: 300] +05/12 06:09:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:09:57 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=2.06s: + episode_total: mean=24.29s, total=145.73s, count=6, min=230.7ms, max=131947.7ms + sensor_polling: mean=328.5ms, total=88.70s, count=270, min=297.4ms, max=599.6ms + save_trajectories: mean=8.69s, total=8.69s, count=1, min=8692.5ms, max=8692.5ms + physics_step: mean=21.9ms, total=5.91s, count=270, min=17.0ms, max=50.1ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3575.0ms, max=3575.0ms + task_specific_sample: mean=379.3ms, total=2.28s, count=6, min=227.7ms, max=458.5ms + task_sampling: mean=412.2ms, total=2.06s, count=5, min=359.3ms, max=461.2ms + task_sampling_failed: mean=230.6ms, total=230.6ms, count=1, min=230.6ms, max=230.6ms + scene_randomize: mean=1.2ms, total=7.3ms, count=6, min=0.9ms, max=2.4ms + mj_forward_sync: mean=398.0us, total=2.4ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:09:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:09:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:09:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:09:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:09:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:09:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124785m [env.py: 870] +05/12 06:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:09:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57274595 -0.81099698 -0.12478545] yaw=-67.3deg [env.py: 1019] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29411007 -1.04711605 -0.12478545] yaw=-35.4deg [env.py: 1019] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=372.0ms, total=372.1ms [env.py: 1075] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.811, -0.125) [env.py: 1079] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 06:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 06:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:09:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:09:59 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 06:09:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 06:09:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:09:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:09:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:10:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.457s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:10:01 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.697[m] 94.532[deg] [grasp_sample.py: 539] +05/12 06:10:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.855s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:10:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.767[m] 80.184[deg] [grasp_sample.py: 539] +05/12 06:10:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:10:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:10:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:02 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:10:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:10:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:10:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:10:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:10:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:10:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:10:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159316m [env.py: 870] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:10:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20429329 -1.09230665 -0.15931583] yaw=-47.1deg [env.py: 1019] +05/12 06:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:10:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.0ms, total=212.1ms [env.py: 1075] +05/12 06:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -1.092, -0.159) [env.py: 1079] +05/12 06:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/12 06:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 06:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:10:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:10:04 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 06:10:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 06:10:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:10:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:10:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:10:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:10:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:10:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.93s (batch: 2.76s, save: 9.17s) [pipeline.py: 300] +05/12 06:10:06 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=1.08s: + episode_total: mean=36.40s, total=145.60s, count=4, min=341.5ms, max=139180.2ms + sensor_polling: mean=363.4ms, total=95.59s, count=263, min=301.5ms, max=650.6ms + save_trajectories: mean=9.17s, total=9.17s, count=1, min=9171.9ms, max=9171.9ms + physics_step: mean=23.8ms, total=6.25s, count=263, min=19.6ms, max=33.1ms + save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2760.4ms, max=2760.4ms + task_specific_sample: mean=447.8ms, total=1.79s, count=4, min=338.4ms, max=625.1ms + task_sampling: mean=541.3ms, total=1.08s, count=2, min=454.3ms, max=628.2ms + task_sampling_failed: mean=361.2ms, total=722.3ms, count=2, min=341.5ms, max=380.9ms + scene_randomize: mean=1.4ms, total=5.8ms, count=4, min=1.0ms, max=2.4ms + mj_forward_sync: mean=473.9us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:10:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:10:06 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.769[m] 88.429[deg] [grasp_sample.py: 539] +05/12 06:10:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:10:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:10:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:10:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:10:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:10:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:10:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:10:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:10:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199398m [env.py: 870] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:10:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40804918 -1.06969413 -0.19939786] yaw=-44.6deg [env.py: 1019] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:10:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=182.5ms, total=182.5ms [env.py: 1075] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -1.070, -0.199) [env.py: 1079] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 06:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:10:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:10:07 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 06:10:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 06:10:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:10:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:10:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:10:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.390s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:10:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.636[m] 84.400[deg] [grasp_sample.py: 539] +05/12 06:10:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:10:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:10:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:10:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:10:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:39 INFO: [Worker 0] Object is not in grasp! 0.00095 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:10:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:10:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:10:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 06:10:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:10:40 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.530[deg] [grasp_sample.py: 539] +05/12 06:10:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:10:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:10:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:10:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:10:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:11:05 INFO: [Worker 0] Object is not in grasp! 0.00145 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:11:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:11:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:11:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:11:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 387 non-colliding grasps [grasp_sample.py: 465] +05/12 06:11:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.346s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:11:05 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.483[deg] [grasp_sample.py: 539] +05/12 06:11:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:11:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:11:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:11:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:11:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:11:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:11:37 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:11:47 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:11:54 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:12:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:12:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:12:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:12:07 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:12:07 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:12:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:12:07 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 06:12:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:12:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:12:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.19s (batch: 3.65s, save: 10.54s) [pipeline.py: 300] +05/12 06:12:15 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:12:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:12:15 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 06:12:15 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.57s: + episode_total: mean=178.56s, total=178.56s, count=1, min=178562.4ms, max=178562.4ms + sensor_polling: mean=418.9ms, total=125.67s, count=300, min=319.3ms, max=659.5ms + save_trajectories: mean=10.54s, total=10.54s, count=1, min=10544.2ms, max=10544.2ms + physics_step: mean=24.9ms, total=7.47s, count=300, min=14.9ms, max=73.5ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3649.5ms, max=3649.5ms + task_sampling: mean=572.3ms, total=572.3ms, count=1, min=572.3ms, max=572.3ms + task_specific_sample: mean=568.6ms, total=568.6ms, count=1, min=568.6ms, max=568.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:12:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193190m [env.py: 870] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65569782 -0.97296882 -0.19318987] yaw=-76.3deg [env.py: 1019] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:12:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=217.8ms, total=217.9ms [env.py: 1075] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.656, -0.973, -0.193) [env.py: 1079] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg [env.py: 1082] +05/12 06:12:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:12:17 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 06:12:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 06:12:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:12:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.591[m] 87.615[deg] [grasp_sample.py: 539] +05/12 06:12:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:12:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:12:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:12:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:12:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:12:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.33s (batch: 3.29s, save: 9.04s) [pipeline.py: 300] +05/12 06:12:20 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.43s: + episode_total: mean=133.20s, total=133.20s, count=1, min=133200.5ms, max=133200.5ms + sensor_polling: mean=336.2ms, total=88.42s, count=263, min=308.1ms, max=631.7ms + save_trajectories: mean=9.04s, total=9.04s, count=1, min=9041.4ms, max=9041.4ms + physics_step: mean=21.6ms, total=5.69s, count=263, min=19.8ms, max=33.9ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3285.4ms, max=3285.4ms + task_sampling: mean=429.9ms, total=429.9ms, count=1, min=429.9ms, max=429.9ms + task_specific_sample: mean=426.4ms, total=426.4ms, count=1, min=426.4ms, max=426.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=428.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:12:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148936m [env.py: 870] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.2ms, total=187.2ms [env.py: 1105] +05/12 06:12:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:12:22 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:12:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172724m [env.py: 870] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=202.0ms, total=202.0ms [env.py: 1105] +05/12 06:12:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:12:23 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:12:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163081m [env.py: 870] +05/12 06:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43895151 -1.04003356 -0.16308084] yaw=-48.8deg [env.py: 1019] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:12:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=201.0ms [env.py: 1075] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.439, -1.040, -0.163) [env.py: 1079] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg [env.py: 1082] +05/12 06:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 06:12:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:12:25 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 06:12:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 06:12:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:26 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:12:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:12:26 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 06:12:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.421s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:12:27 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.662[m] 84.479[deg] [grasp_sample.py: 539] +05/12 06:12:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:12:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:12:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:12:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:12:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:12:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.46s (batch: 3.70s, save: 9.75s) [pipeline.py: 300] +05/12 06:12:29 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=1.04s: + episode_total: mean=74.52s, total=149.04s, count=2, min=3734.3ms, max=145302.2ms + sensor_polling: mean=344.0ms, total=99.07s, count=288, min=305.5ms, max=667.2ms + save_trajectories: mean=9.75s, total=9.75s, count=1, min=9752.5ms, max=9752.5ms + physics_step: mean=22.4ms, total=6.44s, count=288, min=14.9ms, max=33.1ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3703.0ms, max=3703.0ms + task_sampling: mean=520.3ms, total=1.04s, count=2, min=419.2ms, max=621.4ms + task_specific_sample: mean=517.0ms, total=1.03s, count=2, min=416.4ms, max=617.7ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=411.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:12:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190271m [env.py: 870] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32832086 -1.08478657 -0.1902708 ] yaw=-46.6deg [env.py: 1019] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:12:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=330.1ms, total=330.2ms [env.py: 1075] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.085, -0.190) [env.py: 1079] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 06:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:12:30 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 06:12:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 06:12:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:12:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.652[m] 87.912[deg] [grasp_sample.py: 539] +05/12 06:12:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:12:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:12:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:12:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.18s (batch: 3.16s, save: 9.02s) [pipeline.py: 300] +05/12 06:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:38 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.80s: + episode_total: mean=23.65s, total=165.56s, count=7, min=176.2ms, max=162436.0ms + sensor_polling: mean=402.2ms, total=110.60s, count=275, min=305.5ms, max=706.3ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9023.0ms, max=9023.0ms + physics_step: mean=26.4ms, total=7.25s, count=275, min=15.0ms, max=78.1ms + save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3157.7ms, max=3157.7ms + task_specific_sample: mean=259.0ms, total=1.81s, count=7, min=173.1ms, max=426.2ms + task_sampling_failed: mean=207.3ms, total=1.04s, count=5, min=176.1ms, max=250.6ms + task_sampling: mean=400.0ms, total=800.0ms, count=2, min=371.5ms, max=428.4ms + scene_randomize: mean=1.3ms, total=9.3ms, count=7, min=1.0ms, max=3.1ms + mj_forward_sync: mean=424.2us, total=3.0ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:12:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196140m [env.py: 870] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32284344 -0.87822401 -0.19613972] yaw=-51.5deg [env.py: 1019] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:12:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.4ms, total=203.4ms [env.py: 1075] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -0.878, -0.196) [env.py: 1079] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/12 06:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:12:40 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 06:12:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:12:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.366s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:12:42 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108891m [env.py: 870] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.6ms, total=214.7ms [env.py: 1105] +05/12 06:12:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:12:43 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163719m [env.py: 870] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34362826 -0.97109088 -0.1637193 ] yaw=-60.2deg [env.py: 1019] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:12:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:12:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:12:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5609291 -1.02610879 -0.1637193 ] yaw=-57.8deg [env.py: 1019] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms [env.py: 1075] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.344, -0.971, -0.164) [env.py: 1079] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/12 06:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:12:45 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 06:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 06:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.130s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:12:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.425[m] 60.562[deg] [grasp_sample.py: 539] +05/12 06:12:48 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:12:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.813s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:12:49 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.759[m] 92.263[deg] [grasp_sample.py: 539] +05/12 06:12:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112738m [env.py: 870] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41450558 -0.84616852 -0.11273765] yaw=-60.9deg [env.py: 1019] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:12:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms [env.py: 1075] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -0.846, -0.113) [env.py: 1079] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 06:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:12:49 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 06:12:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:12:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:12:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 06:12:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:12:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.801s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:12:51 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:12:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149988m [env.py: 870] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=768.3ms, total=768.3ms [env.py: 1105] +05/12 06:12:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:12:54 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:12:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120105m [env.py: 870] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3993631 -0.87040632 -0.12010473] yaw=-61.0deg [env.py: 1019] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:12:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.5ms, total=230.6ms [env.py: 1075] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -0.870, -0.120) [env.py: 1079] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/12 06:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:12:56 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 06:12:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 06:12:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:12:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:12:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:12:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.446s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:12:58 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:12:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:12:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:12:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:12:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:12:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:12:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:12:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:12:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:12:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174773m [env.py: 870] +05/12 06:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:12:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=827.4ms, total=827.4ms [env.py: 1105] +05/12 06:13:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:13:00 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:13:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:13:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:13:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:13:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:13:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:13:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:13:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124898m [env.py: 870] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:13:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47021894 -0.75276306 -0.12489792] yaw=-56.5deg [env.py: 1019] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:13:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=499.3ms, total=499.3ms [env.py: 1075] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -0.753, -0.125) [env.py: 1079] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/12 06:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:13:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:13:02 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 06:13:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:13:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:13:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:13:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:13:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.371s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:13:04 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:13:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:13:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:13:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:13:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:13:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131942m [env.py: 870] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25498479 -0.88491338 -0.13194228] yaw=-41.1deg [env.py: 1019] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53754361 -0.80479456 -0.13194228] yaw=-68.3deg [env.py: 1019] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:13:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.7ms [env.py: 1075] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -0.885, -0.132) [env.py: 1079] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/12 06:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:13:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:13:06 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 06:13:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:13:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:13:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:13:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:13:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:13:07 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:13:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:13:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120524m [env.py: 870] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45960852 -0.98610589 -0.12052445] yaw=-46.2deg [env.py: 1019] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38913464 -0.91071201 -0.12052445] yaw=-65.8deg [env.py: 1019] +05/12 06:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:13:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=294.8ms, total=294.9ms [env.py: 1075] +05/12 06:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.986, -0.121) [env.py: 1079] +05/12 06:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/12 06:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 06:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:13:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:13:09 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 06:13:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:13:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:13:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:13:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.437s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:13:10 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.672[m] 86.468[deg] [grasp_sample.py: 539] +05/12 06:13:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:13:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:13:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:13:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:13:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:13:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:13:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:13:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:13:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:13:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:13:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:13:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:13:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:13:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:13:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:13:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:13:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:13:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:14:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:14:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:14:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:14:12 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:14:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.462s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:14:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.137[m] 18.729[deg] [grasp_sample.py: 539] +05/12 06:14:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:14:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:14:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:14:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:14:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:14:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.460s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:14:23 INFO: [Worker 0] Feasible grasp found 29 (originally 29): w/ 0.174[m] 12.222[deg] [grasp_sample.py: 539] +05/12 06:14:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:14:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:14:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:14:24 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:14:32 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:14:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:14:32 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 06:14:39 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:14:42 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:14:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:14:42 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 06:14:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:14:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:14:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.40s (batch: 4.19s, save: 9.20s) [pipeline.py: 300] +05/12 06:14:46 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.59s: + episode_total: mean=136.24s, total=136.24s, count=1, min=136242.4ms, max=136242.4ms + sensor_polling: mean=344.1ms, total=91.54s, count=266, min=304.2ms, max=861.0ms + save_trajectories: mean=9.20s, total=9.20s, count=1, min=9204.8ms, max=9204.8ms + physics_step: mean=22.2ms, total=5.90s, count=266, min=15.0ms, max=53.3ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4193.8ms, max=4193.8ms + task_sampling: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms + task_specific_sample: mean=583.6ms, total=583.6ms, count=1, min=583.6ms, max=583.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:14:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:14:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:14:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:14:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:14:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:14:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:14:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:14:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:14:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178147m [env.py: 870] +05/12 06:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:14:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=183.8ms, total=183.8ms [env.py: 1105] +05/12 06:14:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:14:48 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:14:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:14:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:14:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:14:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:14:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:14:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:14:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:14:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116452m [env.py: 870] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:14:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25804386 -1.09626272 -0.11645219] yaw=-46.6deg [env.py: 1019] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52363167 -0.79330745 -0.11645219] yaw=-69.8deg [env.py: 1019] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40691145 -0.90510996 -0.11645219] yaw=-63.5deg [env.py: 1019] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:14:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.3ms, total=172.3ms [env.py: 1075] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -1.096, -0.116) [env.py: 1079] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 06:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:14:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:14:49 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 06:14:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 06:14:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:14:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:14:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:14:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.835s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:14:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.730[m] 79.731[deg] [grasp_sample.py: 539] +05/12 06:14:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:14:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:14:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:14:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:14:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:14:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.25s (batch: 3.07s, save: 9.18s) [pipeline.py: 300] +05/12 06:14:55 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.47s: + episode_total: mean=50.29s, total=150.87s, count=3, min=197.9ms, max=150460.6ms + sensor_polling: mean=376.1ms, total=101.18s, count=269, min=300.0ms, max=668.9ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9175.8ms, max=9175.8ms + physics_step: mean=24.4ms, total=6.57s, count=269, min=14.7ms, max=62.5ms + save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3072.8ms, max=3072.8ms + task_specific_sample: mean=289.8ms, total=869.4ms, count=3, min=192.7ms, max=469.8ms + task_sampling: mean=471.9ms, total=471.9ms, count=1, min=471.9ms, max=471.9ms + task_sampling_failed: mean=204.0ms, total=408.0ms, count=2, min=197.8ms, max=210.2ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=400.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:14:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:14:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:14:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:14:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:14:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:14:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:14:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:14:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139644m [env.py: 870] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:14:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42239517 -0.97929909 -0.13964444] yaw=-54.3deg [env.py: 1019] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:14:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.9ms [env.py: 1075] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.979, -0.140) [env.py: 1079] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 06:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:14:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:14:57 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 06:14:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 06:14:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:14:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:14:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:14:58 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:14:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:14:58 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 06:14:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.493s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:14:58 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.713[m] 90.164[deg] [grasp_sample.py: 539] +05/12 06:14:59 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:15:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:15:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:15:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:15:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:15:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:15:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:15:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:15:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:15:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:15:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124205m [env.py: 870] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:15:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.5ms, total=218.6ms [env.py: 1105] +05/12 06:15:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:15:01 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:15:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:15:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:15:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:15:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:15:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:15:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:15:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147659m [env.py: 870] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:15:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21385934 -0.94179156 -0.14765935] yaw=-42.4deg [env.py: 1019] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36743166 -1.05003333 -0.14765935] yaw=-55.5deg [env.py: 1019] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28731808 -1.14515144 -0.14765935] yaw=-32.1deg [env.py: 1019] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:15:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.1ms, total=138.1ms [env.py: 1075] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -0.942, -0.148) [env.py: 1079] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 06:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:15:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:15:03 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 06:15:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:15:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:15:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:15:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:15:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.308s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:15:04 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:15:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:15:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:15:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:15:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:15:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:15:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:15:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181452m [env.py: 870] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:15:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34527844 -1.11301593 -0.18145205] yaw=-35.8deg [env.py: 1019] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:15:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.5ms, total=202.5ms [env.py: 1075] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.113, -0.181) [env.py: 1079] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.8 deg [env.py: 1082] +05/12 06:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 06:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:15:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:15:06 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 06:15:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:15:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:15:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:15:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:15:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.443s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:15:07 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.655[m] 91.384[deg] [grasp_sample.py: 539] +05/12 06:15:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:15:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:15:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:15:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:15:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:15:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:15:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.07s (batch: 3.34s, save: 9.72s) [pipeline.py: 300] +05/12 06:15:12 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.88s: + episode_total: mean=49.86s, total=149.58s, count=3, min=223.0ms, max=147330.3ms + sensor_polling: mean=340.4ms, total=98.03s, count=288, min=302.3ms, max=669.5ms + save_trajectories: mean=9.72s, total=9.72s, count=1, min=9721.8ms, max=9721.8ms + physics_step: mean=21.8ms, total=6.28s, count=288, min=19.3ms, max=31.6ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3343.9ms, max=3343.9ms + task_specific_sample: mean=365.9ms, total=1.10s, count=3, min=219.4ms, max=449.3ms + task_sampling: mean=442.0ms, total=884.0ms, count=2, min=431.1ms, max=452.9ms + task_sampling_failed: mean=222.9ms, total=222.9ms, count=1, min=222.9ms, max=222.9ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=426.9us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:15:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:15:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:15:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:15:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:15:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:15:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:15:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193280m [env.py: 870] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:15:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21982349 -1.02085389 -0.19328029] yaw=-54.3deg [env.py: 1019] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:15:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=207.7ms, total=207.7ms [env.py: 1075] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.021, -0.193) [env.py: 1079] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 06:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:15:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:15:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:15:13 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 06:15:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 06:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:15:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:15:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:15:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.524s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:15:16 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.726[m] 78.336[deg] [grasp_sample.py: 539] +05/12 06:15:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:15:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:15:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:15:44 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:15:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:15:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:15:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:16:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:16:06 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:16:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:16:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:16:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:16:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:16:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:16:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:16:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/12 06:16:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:16:14 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.054[m] 8.317[deg] [grasp_sample.py: 539] +05/12 06:16:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:16:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:16:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:16:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:16:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:16:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.23s (batch: 3.53s, save: 9.70s) [pipeline.py: 300] +05/12 06:16:20 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=3.07s: + episode_total: mean=29.29s, total=234.33s, count=8, min=780.3ms, max=191459.6ms + sensor_polling: mean=375.7ms, total=129.63s, count=345, min=321.6ms, max=682.1ms + save_trajectories: mean=9.70s, total=9.70s, count=1, min=9696.5ms, max=9696.5ms + physics_step: mean=22.7ms, total=7.82s, count=345, min=14.8ms, max=35.0ms + task_specific_sample: mean=582.1ms, total=4.66s, count=8, min=421.0ms, max=832.4ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.7ms, max=3532.7ms + task_sampling: mean=511.4ms, total=3.07s, count=6, min=424.7ms, max=717.1ms + task_sampling_failed: mean=812.8ms, total=1.63s, count=2, min=780.3ms, max=845.3ms + scene_randomize: mean=1.3ms, total=10.7ms, count=8, min=1.0ms, max=2.6ms + mj_forward_sync: mean=437.6us, total=3.5ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:16:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:16:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:16:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:16:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:16:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:16:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:16:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166165m [env.py: 870] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:16:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.9ms, total=231.9ms [env.py: 1105] +05/12 06:16:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:16:21 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:16:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:16:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:16:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:16:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154319m [env.py: 870] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.5ms, total=200.6ms [env.py: 1105] +05/12 06:16:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:16:23 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:16:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:16:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:16:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:16:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:16:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:16:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:16:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136462m [env.py: 870] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:16:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53377744 -0.85743128 -0.13646222] yaw=-60.6deg [env.py: 1019] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27200407 -1.20014585 -0.13646222] yaw=-37.3deg [env.py: 1019] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:16:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.9ms, total=226.9ms [env.py: 1075] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.857, -0.136) [env.py: 1079] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg [env.py: 1082] +05/12 06:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:16:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:16:24 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 06:16:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:16:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:16:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:16:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:16:26 INFO: [Worker 0] Object is not in grasp! 0.00165 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:16:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:16:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:16:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:16:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/12 06:16:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.502s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:16:27 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.783[m] 91.774[deg] [grasp_sample.py: 539] +05/12 06:16:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.388s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:16:27 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.044[m] 0.936[deg] [grasp_sample.py: 539] +05/12 06:16:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:16:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:16:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:16:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:16:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:30 INFO: [Worker 0] Object is not in grasp! 0.00098 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:16:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:16:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:16:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:16:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 06:16:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.345s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:16:32 INFO: [Worker 0] Feasible grasp found 352 (originally 352): w/ 0.061[m] 22.580[deg] [grasp_sample.py: 539] +05/12 06:16:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:16:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:16:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:16:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:16:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:16:55 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:16:58 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 06:16:58 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=0.42s: + episode_total: mean=64.47s, total=128.94s, count=2, min=196.7ms, max=128740.1ms + sensor_polling: mean=339.2ms, total=101.76s, count=300, min=298.2ms, max=666.6ms + physics_step: mean=22.3ms, total=6.69s, count=300, min=19.5ms, max=38.5ms + task_specific_sample: mean=304.0ms, total=608.0ms, count=2, min=189.5ms, max=418.5ms + task_sampling: mean=422.7ms, total=422.7ms, count=1, min=422.7ms, max=422.7ms + task_sampling_failed: mean=196.7ms, total=196.7ms, count=1, min=196.7ms, max=196.7ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms + mj_forward_sync: mean=409.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:16:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:16:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:16:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:16:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:16:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:16:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:16:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151347m [env.py: 870] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:16:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=394.8ms, total=394.9ms [env.py: 1105] +05/12 06:17:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:17:00 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:17:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:17:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:17:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:17:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:17:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:17:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149065m [env.py: 870] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:17:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3295319 -1.19758712 -0.14906486] yaw=-37.9deg [env.py: 1019] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44228996 -1.09403286 -0.14906486] yaw=-50.7deg [env.py: 1019] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5517508 -1.03547234 -0.14906486] yaw=-66.1deg [env.py: 1019] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:17:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.9ms, total=259.0ms [env.py: 1075] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.198, -0.149) [env.py: 1079] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 06:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:17:01 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 06:17:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 06:17:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:17:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:17:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:17:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.575s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:17:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.662[m] 80.020[deg] [grasp_sample.py: 539] +05/12 06:17:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:17:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:17:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:17:09 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:17:16 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:17:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:17:16 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 06:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:17:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:17:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.59s (batch: 3.40s, save: 9.18s) [pipeline.py: 300] +05/12 06:17:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:17:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:17:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:29 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=1.16s: + episode_total: mean=37.34s, total=149.38s, count=4, min=227.2ms, max=144186.2ms + sensor_polling: mean=366.8ms, total=98.68s, count=269, min=306.3ms, max=647.1ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9184.1ms, max=9184.1ms + physics_step: mean=23.7ms, total=6.38s, count=269, min=14.6ms, max=65.4ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3402.8ms, max=3402.8ms + task_specific_sample: mean=344.1ms, total=1.38s, count=4, min=223.5ms, max=405.9ms + task_sampling: mean=387.0ms, total=1.16s, count=3, min=344.5ms, max=408.3ms + task_sampling_failed: mean=227.1ms, total=227.1ms, count=1, min=227.1ms, max=227.1ms + scene_randomize: mean=1.3ms, total=5.3ms, count=4, min=1.0ms, max=2.2ms + mj_forward_sync: mean=455.0us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=13.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:17:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:17:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:17:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:17:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:17:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:17:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185261m [env.py: 870] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:17:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4446148 -0.92761581 -0.18526074] yaw=-60.7deg [env.py: 1019] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:17:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:17:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30476019 -0.94246966 -0.18526074] yaw=-55.2deg [env.py: 1019] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:17:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=407.8ms, total=407.9ms [env.py: 1075] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.928, -0.185) [env.py: 1079] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/12 06:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:17:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:17:31 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 06:17:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 06:17:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:17:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:17:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:17:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.880s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:17:32 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.120[m] 9.059[deg] [grasp_sample.py: 539] +05/12 06:17:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:17:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:17:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:17:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.040s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:17:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.716[m] 91.879[deg] [grasp_sample.py: 539] +05/12 06:17:36 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:17:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:17:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:17:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101064m [env.py: 870] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36383778 -1.17624427 -0.10106425] yaw=-54.4deg [env.py: 1019] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26594873 -1.07595374 -0.10106425] yaw=-32.3deg [env.py: 1019] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=208.0ms [env.py: 1075] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.176, -0.101) [env.py: 1079] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 06:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:17:37 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 06:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 06:17:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:17:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:17:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:17:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:17:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:17:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.503s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:17:41 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.174[m] 12.692[deg] [grasp_sample.py: 539] +05/12 06:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:17:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:17:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:17:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.305s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:17:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.645[m] 92.047[deg] [grasp_sample.py: 539] +05/12 06:17:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:17:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:17:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 13.54s (batch: 3.68s, save: 9.86s) [pipeline.py: 300] +05/12 06:17:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:17:44 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.48s: + episode_total: mean=150.57s, total=150.57s, count=1, min=150565.0ms, max=150565.0ms + sensor_polling: mean=341.6ms, total=102.47s, count=300, min=306.2ms, max=652.2ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9864.1ms, max=9864.1ms + physics_step: mean=21.9ms, total=6.58s, count=300, min=14.9ms, max=31.8ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3676.7ms, max=3676.7ms + task_sampling: mean=482.1ms, total=482.1ms, count=1, min=482.1ms, max=482.1ms + task_specific_sample: mean=478.1ms, total=478.1ms, count=1, min=478.1ms, max=478.1ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=624.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:17:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:17:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:17:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:17:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:17:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:17:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:17:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:17:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136705m [env.py: 870] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:17:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28495424 -1.04253596 -0.13670532] yaw=-45.4deg [env.py: 1019] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:17:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.2ms [env.py: 1075] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -1.043, -0.137) [env.py: 1079] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 06:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:17:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:17:45 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 06:17:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 06:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:17:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:17:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:17:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.714[m] 85.345[deg] [grasp_sample.py: 539] +05/12 06:17:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:17:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:17:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:17:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:17:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:17:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:17:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:17:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:17:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.120s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:18:03 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.231[m] 18.268[deg] [grasp_sample.py: 539] +05/12 06:18:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:18:04 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:18:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:18:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:18:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:18:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:18:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:18:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:18:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153979m [env.py: 870] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:18:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47087875 -0.93784761 -0.1539787 ] yaw=-54.6deg [env.py: 1019] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:18:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=358.9ms, total=358.9ms [env.py: 1075] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.938, -0.154) [env.py: 1079] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 06:18:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:18:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:18:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:18:06 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 06:18:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 06:18:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:18:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:18:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:18:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:18:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.289s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:18:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.729[m] 85.128[deg] [grasp_sample.py: 539] +05/12 06:18:11 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:18:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:18:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:18:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:18:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:18:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:18:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:18:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127790m [env.py: 870] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:18:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=236.1ms, total=236.2ms [env.py: 1105] +05/12 06:18:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:18:13 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:18:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:18:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:18:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:18:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:18:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135453m [env.py: 870] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31424417 -1.18278604 -0.13545338] yaw=-32.8deg [env.py: 1019] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:18:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=323.6ms, total=323.6ms [env.py: 1075] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.183, -0.135) [env.py: 1079] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg [env.py: 1082] +05/12 06:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:18:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:18:14 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 06:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 06:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:18:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:18:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:18:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.263s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:18:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.649[m] 90.520[deg] [grasp_sample.py: 539] +05/12 06:18:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:18:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:18:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:18:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:18:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:18:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:18:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:18:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:18:48 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:18:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:18:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:19:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:19:09 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:19:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:19:09 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 06:19:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:19:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:19:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:19:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:19:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.67s (batch: 3.29s, save: 8.38s) [pipeline.py: 300] +05/12 06:19:21 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.49s: + episode_total: mean=70.30s, total=140.59s, count=2, min=404.2ms, max=140186.1ms + sensor_polling: mean=350.9ms, total=94.73s, count=270, min=299.2ms, max=646.4ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8380.1ms, max=8380.1ms + physics_step: mean=23.4ms, total=6.33s, count=270, min=19.4ms, max=127.0ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3293.0ms, max=3293.0ms + task_specific_sample: mean=443.2ms, total=886.5ms, count=2, min=400.4ms, max=486.1ms + task_sampling: mean=490.0ms, total=490.0ms, count=1, min=490.0ms, max=490.0ms + task_sampling_failed: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms + scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.2ms, max=1.5ms + mj_forward_sync: mean=614.8us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:19:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:19:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:19:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:19:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:19:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:19:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110172m [env.py: 870] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:19:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18398996 -0.96555777 -0.11017236] yaw=-54.2deg [env.py: 1019] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:19:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.4ms [env.py: 1075] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -0.966, -0.110) [env.py: 1079] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 06:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:19:23 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 06:19:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 06:19:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:19:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:19:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:19:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.545s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:19:24 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:19:25 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:19:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:19:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:19:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:19:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:19:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:19:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117035m [env.py: 870] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:19:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.8ms, total=182.8ms [env.py: 1105] +05/12 06:19:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:19:26 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:19:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:19:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:19:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:19:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:19:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:19:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141624m [env.py: 870] +05/12 06:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:19:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58542223 -0.76217034 -0.14162357] yaw=-58.3deg [env.py: 1019] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:19:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.8ms [env.py: 1075] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.762, -0.142) [env.py: 1079] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 06:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 06:19:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:19:28 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 06:19:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 06:19:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:19:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:19:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:19:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:19:29 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:19:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:19:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:19:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:19:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:19:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:19:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131775m [env.py: 870] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:19:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38426721 -0.97364815 -0.13177467] yaw=-55.1deg [env.py: 1019] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.2ms [env.py: 1075] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -0.974, -0.132) [env.py: 1079] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 06:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:19:31 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 06:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 06:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:19:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:19:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:19:41 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:19:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.538s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:19:45 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.710[m] 94.399[deg] [grasp_sample.py: 539] +05/12 06:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:19:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:19:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:19:46 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:19:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:19:46 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 06:19:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:19:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:19:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:19:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.66s (batch: 2.74s, save: 8.92s) [pipeline.py: 300] +05/12 06:19:58 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.08s: + episode_total: mean=72.91s, total=145.82s, count=2, min=4971.1ms, max=140852.0ms + sensor_polling: mean=341.7ms, total=91.92s, count=269, min=302.1ms, max=546.2ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8915.9ms, max=8915.9ms + physics_step: mean=22.2ms, total=5.98s, count=269, min=14.6ms, max=31.4ms + save_batch_prep: mean=2.74s, total=2.74s, count=1, min=2744.5ms, max=2744.5ms + task_sampling: mean=538.3ms, total=1.08s, count=2, min=411.9ms, max=664.7ms + task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=409.2ms, max=659.3ms + scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.0ms, max=4.0ms + mj_forward_sync: mean=470.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:19:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:19:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:19:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:19:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:19:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:19:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:19:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147477m [env.py: 870] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:19:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41032035 -1.00540491 -0.14747744] yaw=-43.0deg [env.py: 1019] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:19:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.1ms, total=219.1ms [env.py: 1075] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.410, -1.005, -0.147) [env.py: 1079] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 06:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:20:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:20:00 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 06:20:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 06:20:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:20:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:20:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:20:01 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:20:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:20:01 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 06:20:04 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:20:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.838s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:20:05 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.718[m] 78.906[deg] [grasp_sample.py: 539] +05/12 06:20:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:20:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:20:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:20:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:20:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:20:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:20:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.84s (batch: 2.93s, save: 8.91s) [pipeline.py: 300] +05/12 06:20:13 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.46s: + episode_total: mean=148.72s, total=148.72s, count=1, min=148720.4ms, max=148720.4ms + sensor_polling: mean=359.8ms, total=100.75s, count=280, min=301.6ms, max=656.1ms + save_trajectories: mean=8.91s, total=8.91s, count=1, min=8911.1ms, max=8911.1ms + physics_step: mean=23.6ms, total=6.60s, count=280, min=15.2ms, max=114.7ms + save_batch_prep: mean=2.93s, total=2.93s, count=1, min=2933.3ms, max=2933.3ms + task_sampling: mean=464.0ms, total=464.0ms, count=1, min=464.0ms, max=464.0ms + task_specific_sample: mean=460.0ms, total=460.0ms, count=1, min=460.0ms, max=460.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=428.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:20:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:20:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:20:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:20:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:20:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:20:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:20:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173396m [env.py: 870] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:20:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35606022 -1.07032096 -0.17339604] yaw=-42.9deg [env.py: 1019] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:20:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1075] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.070, -0.173) [env.py: 1079] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 06:20:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:20:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:20:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:20:15 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 06:20:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 06:20:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:20:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:20:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:20:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.621s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:20:19 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.704[m] 91.182[deg] [grasp_sample.py: 539] +05/12 06:20:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:20:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:20:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:20:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:20:22 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:20:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:20:22 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 06:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:20:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:20:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:20:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 14.81s (batch: 3.70s, save: 11.11s) [pipeline.py: 300] +05/12 06:20:38 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=1.70s: + episode_total: mean=41.74s, total=250.44s, count=6, min=208.9ms, max=144108.3ms + sensor_polling: mean=367.0ms, total=161.86s, count=441, min=311.5ms, max=666.9ms + save_trajectories: mean=11.11s, total=11.11s, count=1, min=11106.3ms, max=11106.3ms + physics_step: mean=22.0ms, total=9.72s, count=441, min=14.8ms, max=42.0ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3699.3ms, max=3699.3ms + task_specific_sample: mean=397.0ms, total=2.38s, count=6, min=205.4ms, max=694.3ms + task_sampling: mean=568.3ms, total=1.70s, count=3, min=466.2ms, max=697.0ms + task_sampling_failed: mean=233.0ms, total=698.9ms, count=3, min=208.8ms, max=245.8ms + scene_randomize: mean=1.3ms, total=8.0ms, count=6, min=1.0ms, max=2.7ms + mj_forward_sync: mean=415.0us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:20:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:20:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:20:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:20:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190158m [env.py: 870] +05/12 06:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46195616 -0.87484495 -0.1901575 ] yaw=-53.4deg [env.py: 1019] +05/12 06:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54511834 -1.03924612 -0.1901575 ] yaw=-69.0deg [env.py: 1019] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:20:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=259.8ms, total=259.8ms [env.py: 1075] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.875, -0.190) [env.py: 1079] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 06:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 06:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:20:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:20:40 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 06:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 06:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:20:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:20:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:20:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:20:42 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.691[m] 88.857[deg] [grasp_sample.py: 539] +05/12 06:20:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:20:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:20:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:20:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:20:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:20:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:20:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:21:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:21:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:21:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:21:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:21:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.556s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:21:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.173[m] 13.117[deg] [grasp_sample.py: 539] +05/12 06:21:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:21:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:21:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:21:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:21:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:21:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:21:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:21:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:21:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:21:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.173[m] 13.114[deg] [grasp_sample.py: 539] +05/12 06:21:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:21:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:21:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:21:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:21:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:21:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:21:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:21:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:21:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.467s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:21:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.173[m] 13.114[deg] [grasp_sample.py: 539] +05/12 06:21:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:21:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:21:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:35 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:21:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:21:41 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 06:21:41 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 06:21:41 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=False episode_total=0.47s: + episode_total: mean=102.01s, total=102.01s, count=1, min=102009.6ms, max=102009.6ms + sensor_polling: mean=361.3ms, total=55.28s, count=153, min=289.2ms, max=689.3ms + physics_step: mean=21.4ms, total=3.28s, count=153, min=13.6ms, max=27.9ms + task_sampling: mean=468.7ms, total=468.7ms, count=1, min=468.7ms, max=468.7ms + task_specific_sample: mean=465.0ms, total=465.0ms, count=1, min=465.0ms, max=465.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=466.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:21:43 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 06:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:21:43 INFO: [Worker 0] Preparing episode data: 182 timesteps [save_utils.py: 278] +05/12 06:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:21:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:21:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:21:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:21:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:21:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:21:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/debug/chunk_011 [save_utils.py: 785] +05/12 06:21:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 8.87s (batch: 2.85s, save: 6.02s) [pipeline.py: 300] +05/12 06:21:52 INFO: [Worker 0] Worker 0 completed house 1: 12/16 successful episodes [pipeline.py: 1323] +05/12 06:21:52 INFO: [Worker 0] [PROFILE] House 1 complete: 12/16 successful, 16 episodes, total_time=4616.44s + House averages: + episode_total: mean=37.17s, total=2676.49s, count=72, min=169.8ms, max=160648.5ms + sensor_polling: mean=358.1ms, total=1613.67s, count=4506, min=289.2ms, max=771.5ms + save_trajectories: mean=9.34s, total=112.10s, count=12, min=8456.1ms, max=12113.9ms + physics_step: mean=23.0ms, total=103.57s, count=4506, min=13.5ms, max=95.0ms + save_batch_prep: mean=3.32s, total=39.83s, count=12, min=2744.5ms, max=4005.0ms + task_specific_sample: mean=427.2ms, total=30.76s, count=72, min=166.8ms, max=1081.0ms + task_sampling: mean=516.4ms, total=23.75s, count=46, min=271.0ms, max=1084.0ms + task_sampling_failed: mean=380.2ms, total=9.88s, count=26, min=169.8ms, max=2913.8ms + scene_load: mean=2.64s, total=2.64s, count=1, min=2639.1ms, max=2639.1ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1566.0ms, max=1566.0ms + scene_compile: mean=888.0ms, total=888.0ms, count=1, min=888.0ms, max=888.0ms + compile_mujoco: mean=548.8ms, total=548.8ms, count=1, min=548.8ms, max=548.8ms + compile_xml_load: mean=272.3ms, total=272.3ms, count=1, min=272.3ms, max=272.3ms + scene_init: mean=127.9ms, total=127.9ms, count=1, min=127.9ms, max=127.9ms + scene_randomize: mean=1.4ms, total=97.8ms, count=72, min=0.9ms, max=4.0ms + scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + asset_install_grasps: mean=43.4ms, total=43.4ms, count=1, min=43.4ms, max=43.4ms + mj_forward_sync: mean=447.3us, total=32.2ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=15.8us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 06:21:52 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 06:21:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=4616.44s + Worker averages: + episode_total: mean=37.17s, total=2676.49s, count=72, min=169.8ms, max=160648.5ms + sensor_polling: mean=358.1ms, total=1613.67s, count=4506, min=289.2ms, max=771.5ms + save_trajectories: mean=9.34s, total=112.10s, count=12, min=8456.1ms, max=12113.9ms + physics_step: mean=23.0ms, total=103.57s, count=4506, min=13.5ms, max=95.0ms + save_batch_prep: mean=3.32s, total=39.83s, count=12, min=2744.5ms, max=4005.0ms + task_specific_sample: mean=427.2ms, total=30.76s, count=72, min=166.8ms, max=1081.0ms + task_sampling: mean=516.4ms, total=23.75s, count=46, min=271.0ms, max=1084.0ms + task_sampling_failed: mean=380.2ms, total=9.88s, count=26, min=169.8ms, max=2913.8ms + scene_load: mean=2.64s, total=2.64s, count=1, min=2639.1ms, max=2639.1ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1566.0ms, max=1566.0ms + scene_compile: mean=888.0ms, total=888.0ms, count=1, min=888.0ms, max=888.0ms + compile_mujoco: mean=548.8ms, total=548.8ms, count=1, min=548.8ms, max=548.8ms + compile_xml_load: mean=272.3ms, total=272.3ms, count=1, min=272.3ms, max=272.3ms + scene_init: mean=127.9ms, total=127.9ms, count=1, min=127.9ms, max=127.9ms + scene_randomize: mean=1.4ms, total=97.8ms, count=72, min=0.9ms, max=4.0ms + scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + asset_install_grasps: mean=43.4ms, total=43.4ms, count=1, min=43.4ms, max=43.4ms + mj_forward_sync: mean=447.3us, total=32.2ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms + compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=15.8us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 06:21:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.041s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:21:53 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.099[m] 14.235[deg] [grasp_sample.py: 539] +05/12 06:21:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:21:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:21:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:21:55 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 06:21:55 INFO: Success count: 12, Total count: 16 [pipeline.py: 1491] +05/12 06:21:55 INFO: Success rate: 75.00% [pipeline.py: 1492] +05/12 06:21:55 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:21:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:21:55 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 06:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:22:00 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:22:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:22:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.228s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.097[m] 25.890[deg] [grasp_sample.py: 539] +05/12 06:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:22:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:22:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:22:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:22:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:22:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.37s (batch: 3.50s, save: 8.86s) [pipeline.py: 300] +05/12 06:22:08 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.29s: + episode_total: mean=40.56s, total=162.23s, count=4, min=406.9ms, max=157661.6ms + sensor_polling: mean=338.4ms, total=94.42s, count=279, min=303.9ms, max=606.1ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8861.4ms, max=8861.4ms + physics_step: mean=22.5ms, total=6.28s, count=279, min=14.7ms, max=130.1ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3504.4ms, max=3504.4ms + task_specific_sample: mean=366.8ms, total=1.47s, count=4, min=187.6ms, max=444.8ms + task_sampling: mean=430.5ms, total=1.29s, count=3, min=421.9ms, max=446.9ms + task_sampling_failed: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms + scene_randomize: mean=2.3ms, total=9.4ms, count=4, min=0.9ms, max=6.4ms + mj_forward_sync: mean=419.2us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:22:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164250m [env.py: 870] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43841419 -0.89545074 -0.16424978] yaw=-52.9deg [env.py: 1019] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52645943 -1.01751264 -0.16424978] yaw=-54.9deg [env.py: 1019] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=749.5ms, total=749.6ms [env.py: 1075] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.895, -0.164) [env.py: 1079] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 06:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:22:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:11 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:22:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.811s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.737[m] 78.217[deg] [grasp_sample.py: 539] +05/12 06:22:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:22:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:22:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:22:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:22:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:22:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:22:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:19 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:22:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:22:19 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 06:22:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.140[m] 9.665[deg] [grasp_sample.py: 539] +05/12 06:22:22 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:22:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171321m [env.py: 870] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=456.6ms, total=456.7ms [env.py: 1105] +05/12 06:22:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:22:24 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:22:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150519m [env.py: 870] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55747992 -0.86550344 -0.15051869] yaw=-62.5deg [env.py: 1019] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13135176 -0.99733225 -0.15051869] yaw=-40.2deg [env.py: 1019] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48228292 -0.91249127 -0.15051869] yaw=-55.0deg [env.py: 1019] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=402.9ms, total=403.0ms [env.py: 1075] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.866, -0.151) [env.py: 1079] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 06:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:26 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.752s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:28 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.722[m] 92.149[deg] [grasp_sample.py: 539] +05/12 06:22:29 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126972m [env.py: 870] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=507.7ms, total=507.7ms [env.py: 1105] +05/12 06:22:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:22:30 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:22:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:22:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:22:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.02s (batch: 3.10s, save: 8.92s) [pipeline.py: 300] +05/12 06:22:31 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.42s: + episode_total: mean=136.32s, total=136.32s, count=1, min=136320.3ms, max=136320.3ms + sensor_polling: mean=325.1ms, total=90.70s, count=279, min=263.4ms, max=653.7ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8916.2ms, max=8916.2ms + physics_step: mean=21.3ms, total=5.94s, count=279, min=14.7ms, max=34.3ms + save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3104.4ms, max=3104.4ms + task_sampling: mean=417.0ms, total=417.0ms, count=1, min=417.0ms, max=417.0ms + task_specific_sample: mean=414.0ms, total=414.0ms, count=1, min=414.0ms, max=414.0ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=390.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:22:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165558m [env.py: 870] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31112523 -1.09288392 -0.16555768] yaw=-51.9deg [env.py: 1019] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.6ms [env.py: 1075] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.093, -0.166) [env.py: 1079] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:32 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194946m [env.py: 870] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=262.7ms, total=262.7ms [env.py: 1105] +05/12 06:22:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:22:33 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:22:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109979m [env.py: 870] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5150421 -0.85162027 -0.10997926] yaw=-57.8deg [env.py: 1019] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.6ms [env.py: 1075] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -0.852, -0.110) [env.py: 1079] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/12 06:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:34 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.936s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.689[m] 91.474[deg] [grasp_sample.py: 539] +05/12 06:22:36 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:22:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.003s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.786[m] 84.618[deg] [grasp_sample.py: 539] +05/12 06:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171953m [env.py: 870] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.9ms, total=215.9ms [env.py: 1105] +05/12 06:22:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:22:38 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:22:39 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:22:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135327m [env.py: 870] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22671543 -1.07355661 -0.13532685] yaw=-37.8deg [env.py: 1019] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms [env.py: 1075] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.074, -0.135) [env.py: 1079] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 06:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:39 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165345m [env.py: 870] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45233314 -0.812337 -0.16534501] yaw=-67.1deg [env.py: 1019] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34598726 -1.0214722 -0.16534501] yaw=-40.4deg [env.py: 1019] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52467408 -0.77177878 -0.16534501] yaw=-64.7deg [env.py: 1019] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=112.9ms, total=113.0ms [env.py: 1075] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.452, -0.812, -0.165) [env.py: 1079] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg [env.py: 1082] +05/12 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:41 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.561s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:22:42 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:22:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.829s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:42 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.760[m] 95.558[deg] [grasp_sample.py: 539] +05/12 06:22:44 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:22:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140046m [env.py: 870] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=272.7ms, total=272.8ms [env.py: 1105] +05/12 06:22:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:22:44 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:22:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166959m [env.py: 870] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170689m [env.py: 870] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32270162 -0.93643385 -0.16695907] yaw=-42.2deg [env.py: 1019] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3669575 -1.0320808 -0.16695907] yaw=-44.4deg [env.py: 1019] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=438.3ms, total=438.4ms [env.py: 1075] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -0.936, -0.167) [env.py: 1079] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52756519 -0.79898064 -0.17068852] yaw=-61.1deg [env.py: 1019] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=365.5ms, total=365.6ms [env.py: 1075] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.799, -0.171) [env.py: 1079] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/12 06:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:46 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:46 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.200s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:48 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.785[m] 89.583[deg] [grasp_sample.py: 539] +05/12 06:22:49 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:22:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135309m [env.py: 870] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.8ms, total=220.8ms [env.py: 1105] +05/12 06:22:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:22:50 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:22:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104306m [env.py: 870] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.8ms, total=213.8ms [env.py: 1105] +05/12 06:22:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:22:52 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:22:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:22:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:22:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:22:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:22:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:22:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137639m [env.py: 870] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:22:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24528585 -1.15085947 -0.13763879] yaw=-39.3deg [env.py: 1019] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33852604 -0.96781047 -0.13763879] yaw=-41.4deg [env.py: 1019] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:22:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.8ms [env.py: 1075] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -1.151, -0.138) [env.py: 1079] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/12 06:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:22:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:22:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:22:54 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 06:22:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 06:22:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:22:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:22:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:22:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.901s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:22:58 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.735[m] 88.008[deg] [grasp_sample.py: 539] +05/12 06:22:59 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:00 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 06:23:00 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 06:23:00 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/12 06:23:00 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=4841.71s + House averages: + episode_total: mean=38.31s, total=2758.49s, count=72, min=181.4ms, max=191459.6ms + sensor_polling: mean=390.5ms, total=1743.65s, count=4465, min=292.8ms, max=722.5ms + save_trajectories: mean=9.76s, total=117.12s, count=12, min=8409.9ms, max=12971.1ms + physics_step: mean=23.5ms, total=104.78s, count=4465, min=14.7ms, max=73.5ms + save_batch_prep: mean=3.51s, total=42.13s, count=12, min=2989.7ms, max=3933.3ms + task_specific_sample: mean=436.6ms, total=31.44s, count=72, min=178.5ms, max=852.0ms + task_sampling: mean=511.3ms, total=24.03s, count=47, min=406.5ms, max=854.3ms + task_sampling_failed: mean=447.5ms, total=11.19s, count=25, min=181.4ms, max=3714.6ms + scene_load: mean=3.51s, total=3.51s, count=1, min=3511.0ms, max=3511.0ms + scene_env_create: mean=1.74s, total=1.74s, count=1, min=1743.0ms, max=1743.0ms + scene_compile: mean=1.62s, total=1.62s, count=1, min=1623.1ms, max=1623.1ms + compile_xml_load: mean=917.8ms, total=917.8ms, count=1, min=917.8ms, max=917.8ms + compile_mujoco: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms + scene_randomize: mean=1.4ms, total=103.5ms, count=72, min=0.9ms, max=6.0ms + scene_init: mean=98.6ms, total=98.6ms, count=1, min=98.6ms, max=98.6ms + compile_aux_objects: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + compile_aux_policy_objects: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=46.0ms, total=46.0ms, count=1, min=46.0ms, max=46.0ms + compile_robot_add: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms + mj_forward_sync: mean=445.8us, total=32.1ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=15.7us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 06:23:00 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 06:23:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4841.71s + Worker averages: + episode_total: mean=38.31s, total=2758.49s, count=72, min=181.4ms, max=191459.6ms + sensor_polling: mean=390.5ms, total=1743.65s, count=4465, min=292.8ms, max=722.5ms + save_trajectories: mean=9.76s, total=117.12s, count=12, min=8409.9ms, max=12971.1ms + physics_step: mean=23.5ms, total=104.78s, count=4465, min=14.7ms, max=73.5ms + save_batch_prep: mean=3.51s, total=42.13s, count=12, min=2989.7ms, max=3933.3ms + task_specific_sample: mean=436.6ms, total=31.44s, count=72, min=178.5ms, max=852.0ms + task_sampling: mean=511.3ms, total=24.03s, count=47, min=406.5ms, max=854.3ms + task_sampling_failed: mean=447.5ms, total=11.19s, count=25, min=181.4ms, max=3714.6ms + scene_load: mean=3.51s, total=3.51s, count=1, min=3511.0ms, max=3511.0ms + scene_env_create: mean=1.74s, total=1.74s, count=1, min=1743.0ms, max=1743.0ms + scene_compile: mean=1.62s, total=1.62s, count=1, min=1623.1ms, max=1623.1ms + compile_xml_load: mean=917.8ms, total=917.8ms, count=1, min=917.8ms, max=917.8ms + compile_mujoco: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms + scene_randomize: mean=1.4ms, total=103.5ms, count=72, min=0.9ms, max=6.0ms + scene_init: mean=98.6ms, total=98.6ms, count=1, min=98.6ms, max=98.6ms + compile_aux_objects: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + compile_aux_policy_objects: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=46.0ms, total=46.0ms, count=1, min=46.0ms, max=46.0ms + compile_robot_add: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms + mj_forward_sync: mean=445.8us, total=32.1ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=15.7us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 06:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.180s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:23:01 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.746[m] 87.589[deg] [grasp_sample.py: 539] +05/12 06:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:02 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:23:02 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 06:23:02 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/12 06:23:02 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/12 06:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:23:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:23:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:23:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:23:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:23:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102742m [env.py: 870] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:23:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54445318 -0.90038085 -0.10274174] yaw=-61.4deg [env.py: 1019] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:23:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms [env.py: 1075] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -0.900, -0.103) [env.py: 1079] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/12 06:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:23:04 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 06:23:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 06:23:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:23:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:23:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.168s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:23:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.737[m] 90.450[deg] [grasp_sample.py: 539] +05/12 06:23:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:23:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:23:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:23:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:23:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:23:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:23:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:23:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:23:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.480s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:23:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.169[m] 13.197[deg] [grasp_sample.py: 539] +05/12 06:23:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:23:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:23:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:23:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:23:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:23:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:23:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.002s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:23:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.169[m] 13.195[deg] [grasp_sample.py: 539] +05/12 06:23:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:23:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:23:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:23:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:23:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:23:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:23:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:23:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:23:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:23:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:23:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.821s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:23:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.169[m] 13.195[deg] [grasp_sample.py: 539] +05/12 06:23:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:23:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:23:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:23:44 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.598[m] 70.248[deg] [grasp_sample.py: 539] +05/12 06:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:45 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:46 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 06:23:46 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 06:23:46 INFO: [Worker 0] Worker 0 completed house 1: 14/16 successful episodes [pipeline.py: 1323] +05/12 06:23:46 INFO: [Worker 0] [PROFILE] House 1 complete: 14/16 successful, 16 episodes, total_time=4912.31s + House averages: + episode_total: mean=38.93s, total=2803.08s, count=72, min=173.1ms, max=198075.4ms + sensor_polling: mean=362.0ms, total=1751.03s, count=4837, min=263.4ms, max=748.1ms + save_trajectories: mean=9.52s, total=133.35s, count=14, min=8663.9ms, max=10787.9ms + physics_step: mean=22.8ms, total=110.28s, count=4837, min=13.3ms, max=114.7ms + save_batch_prep: mean=3.45s, total=48.37s, count=14, min=2933.3ms, max=3950.3ms + task_specific_sample: mean=398.8ms, total=28.71s, count=72, min=170.2ms, max=1003.4ms + task_sampling: mean=506.4ms, total=21.78s, count=43, min=316.8ms, max=1006.1ms + task_sampling_failed: mean=333.4ms, total=9.67s, count=29, min=173.0ms, max=2699.0ms + scene_load: mean=2.50s, total=2.50s, count=1, min=2501.3ms, max=2501.3ms + scene_env_create: mean=1.53s, total=1.53s, count=1, min=1527.0ms, max=1527.0ms + scene_compile: mean=833.0ms, total=833.0ms, count=1, min=833.0ms, max=833.0ms + compile_mujoco: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms + compile_xml_load: mean=211.8ms, total=211.8ms, count=1, min=211.8ms, max=211.8ms + scene_randomize: mean=1.4ms, total=100.1ms, count=72, min=0.9ms, max=3.1ms + scene_init: mean=98.5ms, total=98.5ms, count=1, min=98.5ms, max=98.5ms + compile_aux_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + compile_aux_policy_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + scene_asset_install: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + mj_forward_sync: mean=461.5us, total=33.2ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms + asset_install_objects: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=15.8us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 06:23:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 06:23:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=4912.31s + Worker averages: + episode_total: mean=38.93s, total=2803.08s, count=72, min=173.1ms, max=198075.4ms + sensor_polling: mean=362.0ms, total=1751.03s, count=4837, min=263.4ms, max=748.1ms + save_trajectories: mean=9.52s, total=133.35s, count=14, min=8663.9ms, max=10787.9ms + physics_step: mean=22.8ms, total=110.28s, count=4837, min=13.3ms, max=114.7ms + save_batch_prep: mean=3.45s, total=48.37s, count=14, min=2933.3ms, max=3950.3ms + task_specific_sample: mean=398.8ms, total=28.71s, count=72, min=170.2ms, max=1003.4ms + task_sampling: mean=506.4ms, total=21.78s, count=43, min=316.8ms, max=1006.1ms + task_sampling_failed: mean=333.4ms, total=9.67s, count=29, min=173.0ms, max=2699.0ms + scene_load: mean=2.50s, total=2.50s, count=1, min=2501.3ms, max=2501.3ms + scene_env_create: mean=1.53s, total=1.53s, count=1, min=1527.0ms, max=1527.0ms + scene_compile: mean=833.0ms, total=833.0ms, count=1, min=833.0ms, max=833.0ms + compile_mujoco: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms + compile_xml_load: mean=211.8ms, total=211.8ms, count=1, min=211.8ms, max=211.8ms + scene_randomize: mean=1.4ms, total=100.1ms, count=72, min=0.9ms, max=3.1ms + scene_init: mean=98.5ms, total=98.5ms, count=1, min=98.5ms, max=98.5ms + compile_aux_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + compile_aux_policy_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + scene_asset_install: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + mj_forward_sync: mean=461.5us, total=33.2ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms + asset_install_objects: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms + compile_robot_add: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=15.8us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 06:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:23:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:23:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 06:23:48 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 06:23:48 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=False episode_total=0.99s: + episode_total: mean=98.22s, total=98.22s, count=1, min=98221.0ms, max=98221.0ms + sensor_polling: mean=327.9ms, total=50.49s, count=154, min=297.0ms, max=507.3ms + physics_step: mean=20.2ms, total=3.11s, count=154, min=13.2ms, max=29.5ms + task_sampling: mean=991.6ms, total=991.6ms, count=1, min=991.6ms, max=991.6ms + task_specific_sample: mean=987.6ms, total=987.6ms, count=1, min=987.6ms, max=987.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:23:49 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 06:23:49 INFO: Success count: 14, Total count: 16 [pipeline.py: 1491] +05/12 06:23:49 INFO: Success rate: 87.50% [pipeline.py: 1492] +05/12 06:23:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:23:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:23:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:23:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:23:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:23:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:23:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180031m [env.py: 870] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:23:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=160.1ms, total=160.2ms [env.py: 1105] +05/12 06:23:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:23:49 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:23:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:23:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:23:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:23:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:23:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:23:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:23:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185934m [env.py: 870] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:23:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=167.1ms, total=167.1ms [env.py: 1105] +05/12 06:23:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:23:51 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:23:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:23:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:23:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:23:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:23:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:23:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194701m [env.py: 870] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:23:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51970881 -1.05406746 -0.19470135] yaw=-67.7deg [env.py: 1019] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59689805 -0.82614065 -0.19470135] yaw=-78.5deg [env.py: 1019] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:23:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.2ms, total=176.3ms [env.py: 1075] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -1.054, -0.195) [env.py: 1079] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 06:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:23:52 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 06:23:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 06:23:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:23:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:23:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:23:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.112s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:23:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.652[m] 82.805[deg] [grasp_sample.py: 539] +05/12 06:23:55 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:23:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:23:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:23:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:23:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:23:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:23:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167338m [env.py: 870] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:23:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20656795 -1.10096697 -0.16733764] yaw=-29.7deg [env.py: 1019] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:23:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.2ms [env.py: 1075] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.207, -1.101, -0.167) [env.py: 1079] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.7 deg [env.py: 1082] +05/12 06:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:23:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:23:56 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 06:23:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 06:23:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:23:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:23:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:24:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.629s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:24:00 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.737[m] 81.044[deg] [grasp_sample.py: 539] +05/12 06:24:01 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:24:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:24:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:24:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:24:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:24:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:24:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:24:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:24:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:24:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155326m [env.py: 870] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:24:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=157.0ms, total=157.0ms [env.py: 1105] +05/12 06:24:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:24:02 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:24:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:24:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:24:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:24:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165667m [env.py: 870] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37133981 -1.14283187 -0.16566746] yaw=-36.1deg [env.py: 1019] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.0ms [env.py: 1075] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -1.143, -0.166) [env.py: 1079] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg [env.py: 1082] +05/12 06:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:24:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:24:04 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 06:24:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:24:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:24:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:24:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:24:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.764s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:24:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 94.991[deg] [grasp_sample.py: 539] +05/12 06:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:24:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:24:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:24:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:24:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:25:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:25:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:25:40 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:26:00 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:26:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:26:00 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 06:26:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:26:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:26:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.24s (batch: 3.25s, save: 8.00s) [pipeline.py: 300] +05/12 06:26:12 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=1.11s: + episode_total: mean=22.76s, total=136.56s, count=6, min=164.3ms, max=128141.9ms + sensor_polling: mean=309.6ms, total=83.89s, count=271, min=291.7ms, max=523.1ms + save_trajectories: mean=8.00s, total=8.00s, count=1, min=7995.3ms, max=7995.3ms + physics_step: mean=20.4ms, total=5.52s, count=271, min=14.3ms, max=23.7ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3247.9ms, max=3247.9ms + task_specific_sample: mean=267.2ms, total=1.60s, count=6, min=161.6ms, max=396.7ms + task_sampling: mean=370.5ms, total=1.11s, count=3, min=334.0ms, max=399.1ms + task_sampling_failed: mean=169.6ms, total=508.9ms, count=3, min=164.2ms, max=175.4ms + scene_randomize: mean=1.0ms, total=6.2ms, count=6, min=1.0ms, max=1.1ms + mj_forward_sync: mean=408.2us, total=2.4ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:26:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:26:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:26:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:26:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:26:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:26:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:26:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119384m [env.py: 870] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:26:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=267.5ms, total=267.5ms [env.py: 1105] +05/12 06:26:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:26:13 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:26:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:26:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:26:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:26:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:26:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:26:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:26:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174474m [env.py: 870] +05/12 06:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:26:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47116567 -0.97923111 -0.17447399] yaw=-68.9deg [env.py: 1019] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26667565 -1.12338644 -0.17447399] yaw=-39.0deg [env.py: 1019] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:26:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.1ms [env.py: 1075] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.979, -0.174) [env.py: 1079] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg [env.py: 1082] +05/12 06:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 06:26:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:26:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:26:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:26:15 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 06:26:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 06:26:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:26:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:26:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:26:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.742s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:26:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.660[m] 89.077[deg] [grasp_sample.py: 539] +05/12 06:26:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:26:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:26:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:27:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:27:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:27:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:27:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:27:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 344 non-colliding grasps [grasp_sample.py: 465] +05/12 06:27:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.044s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:27:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.038[m] 1.765[deg] [grasp_sample.py: 539] +05/12 06:27:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:27:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:27:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:27:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:27:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:27:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:27:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:27:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 344 non-colliding grasps [grasp_sample.py: 465] +05/12 06:27:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.072s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:27:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.038[m] 1.788[deg] [grasp_sample.py: 539] +05/12 06:27:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:27:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:27:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:27:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:27:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:28:05 INFO: [Worker 0] Object is not in grasp! 0.00189 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:28:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:28:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:28:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:28:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 06:28:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:28:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.039[m] 1.626[deg] [grasp_sample.py: 539] +05/12 06:28:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:28:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:28:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:28:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:28:09 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:28:31 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:28:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:28:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:28:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:28:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:28:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.39s (batch: 3.38s, save: 9.01s) [pipeline.py: 300] +05/12 06:28:44 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.43s: + episode_total: mean=75.00s, total=149.99s, count=2, min=279.5ms, max=149713.6ms + sensor_polling: mean=310.5ms, total=93.16s, count=300, min=291.0ms, max=538.9ms + save_trajectories: mean=9.01s, total=9.01s, count=1, min=9014.7ms, max=9014.7ms + physics_step: mean=20.7ms, total=6.20s, count=300, min=14.3ms, max=36.5ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3379.7ms, max=3379.7ms + task_specific_sample: mean=351.5ms, total=702.9ms, count=2, min=273.3ms, max=429.7ms + task_sampling: mean=432.2ms, total=432.2ms, count=1, min=432.2ms, max=432.2ms + task_sampling_failed: mean=279.4ms, total=279.4ms, count=1, min=279.4ms, max=279.4ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms + mj_forward_sync: mean=407.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:28:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:28:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:28:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:28:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:28:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:28:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:28:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132289m [env.py: 870] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:28:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39831859 -1.02987427 -0.13228874] yaw=-59.4deg [env.py: 1019] +05/12 06:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:28:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.4ms, total=222.5ms [env.py: 1075] +05/12 06:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -1.030, -0.132) [env.py: 1079] +05/12 06:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 06:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 06:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:28:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:28:46 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 06:28:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 06:28:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:28:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:28:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:28:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.293s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:28:48 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.695[m] 84.117[deg] [grasp_sample.py: 539] +05/12 06:28:49 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:28:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:28:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:28:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:28:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:28:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:28:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:28:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167419m [env.py: 870] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:28:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22161208 -1.06899039 -0.16741909] yaw=-31.8deg [env.py: 1019] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40094059 -1.03884892 -0.16741909] yaw=-53.7deg [env.py: 1019] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:28:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.8ms, total=195.8ms [env.py: 1075] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.069, -0.167) [env.py: 1079] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg [env.py: 1082] +05/12 06:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:28:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:28:51 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 06:28:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 06:28:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:28:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:28:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:28:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:28:56 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.753[m] 83.294[deg] [grasp_sample.py: 539] +05/12 06:28:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:28:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:28:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:28:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:29:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:29:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:29:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:30:34 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:30:54 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:30:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:30:54 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 06:31:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:31:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:31:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.69s (batch: 3.25s, save: 8.44s) [pipeline.py: 300] +05/12 06:31:06 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.87s: + episode_total: mean=69.93s, total=139.86s, count=2, min=3975.2ms, max=135886.7ms + sensor_polling: mean=314.2ms, total=90.16s, count=287, min=296.5ms, max=540.6ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8442.7ms, max=8442.7ms + physics_step: mean=20.5ms, total=5.88s, count=287, min=14.4ms, max=24.4ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3245.4ms, max=3245.4ms + task_sampling: mean=435.1ms, total=870.1ms, count=2, min=405.0ms, max=465.1ms + task_specific_sample: mean=431.8ms, total=863.5ms, count=2, min=402.5ms, max=461.1ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.0ms, max=2.9ms + mj_forward_sync: mean=404.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:31:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:31:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:31:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:31:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:31:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:31:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:31:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134021m [env.py: 870] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:31:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63601147 -0.92677925 -0.13402107] yaw=-74.8deg [env.py: 1019] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:31:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.6ms, total=208.6ms [env.py: 1075] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.927, -0.134) [env.py: 1079] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.8 deg [env.py: 1082] +05/12 06:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:31:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:31:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:31:08 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 06:31:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 06:31:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:31:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:31:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:31:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.673s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:31:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.649[m] 90.736[deg] [grasp_sample.py: 539] +05/12 06:31:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:31:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:31:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:31:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:31:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:31:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:31:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:31:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:31:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.345s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:31:40 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.545[m] 66.280[deg] [grasp_sample.py: 539] +05/12 06:31:41 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:31:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:31:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:31:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:31:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:31:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:31:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:31:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140880m [env.py: 870] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:31:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28007415 -0.99934971 -0.14088016] yaw=-46.9deg [env.py: 1019] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47910755 -0.83583664 -0.14088016] yaw=-58.5deg [env.py: 1019] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26519452 -0.98532254 -0.14088016] yaw=-55.1deg [env.py: 1019] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:31:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.4ms, total=202.5ms [env.py: 1075] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -0.999, -0.141) [env.py: 1079] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 06:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:31:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:31:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:31:43 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 06:31:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:31:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:31:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:31:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:31:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.554s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:31:46 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.757[m] 95.198[deg] [grasp_sample.py: 539] +05/12 06:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:31:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:31:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:31:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:32:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:32:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:32:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:33:24 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:33:45 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:33:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:33:45 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 06:33:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:33:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:33:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 12.20s (batch: 3.34s, save: 8.86s) [pipeline.py: 300] +05/12 06:33:57 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.86s: + episode_total: mean=84.36s, total=168.71s, count=2, min=33833.9ms, max=134879.3ms + sensor_polling: mean=313.6ms, total=104.12s, count=332, min=295.7ms, max=518.8ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8860.5ms, max=8860.5ms + physics_step: mean=20.5ms, total=6.79s, count=332, min=14.6ms, max=25.0ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3338.7ms, max=3338.7ms + task_sampling: mean=430.4ms, total=860.9ms, count=2, min=391.5ms, max=469.4ms + task_specific_sample: mean=427.1ms, total=854.2ms, count=2, min=388.8ms, max=465.4ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.0ms, max=2.8ms + mj_forward_sync: mean=395.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:33:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:33:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:33:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101317m [env.py: 870] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19836778 -1.12226992 -0.10131725] yaw=-46.4deg [env.py: 1019] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.122, -0.101) [env.py: 1079] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg [env.py: 1082] +05/12 06:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:33:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:33:59 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 06:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/12 06:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:33:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:33:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:34:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.262s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:34:09 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.751[m] 86.922[deg] [grasp_sample.py: 539] +05/12 06:34:10 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:34:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:34:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:34:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:34:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:34:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:34:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:34:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183679m [env.py: 870] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:34:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=161.0ms, total=161.0ms [env.py: 1105] +05/12 06:34:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:34:11 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:34:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:34:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:34:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:34:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:34:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:34:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:34:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:34:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:34:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161334m [env.py: 870] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:34:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=160.9ms, total=160.9ms [env.py: 1105] +05/12 06:34:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:34:12 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:34:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:34:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:34:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:34:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159128m [env.py: 870] +05/12 06:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08594503 -1.0754858 -0.15912825] yaw=-29.6deg [env.py: 1019] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:34:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=161.5ms, total=161.5ms [env.py: 1075] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -1.075, -0.159) [env.py: 1079] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.6 deg [env.py: 1082] +05/12 06:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 06:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:34:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:34:14 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 06:34:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 06:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:34:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:34:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:34:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.027s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:34:16 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:34:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:34:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:34:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:34:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:34:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:34:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:34:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189097m [env.py: 870] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:34:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45533753 -1.03642885 -0.18909721] yaw=-50.0deg [env.py: 1019] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:34:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms [env.py: 1075] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -1.036, -0.189) [env.py: 1079] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg [env.py: 1082] +05/12 06:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:34:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:34:18 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 06:34:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:34:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:34:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:34:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:34:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.874s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:34:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.653[m] 77.978[deg] [grasp_sample.py: 539] +05/12 06:34:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:34:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:34:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:34:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:35:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:35:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:35:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:35:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:35:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.689s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:35:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.121[m] 9.928[deg] [grasp_sample.py: 539] +05/12 06:35:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:35:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:35:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:35:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:35:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:35:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:36:09 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:36:28 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_011 [pipeline.py: 1174] +05/12 06:36:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_011 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:36:28 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 06:36:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:36:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_011 [save_utils.py: 785] +05/12 06:36:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_011 in 11.36s (batch: 3.04s, save: 8.32s) [pipeline.py: 300] +05/12 06:36:40 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.12s: + episode_total: mean=31.33s, total=156.67s, count=5, min=168.0ms, max=142876.8ms + sensor_polling: mean=310.7ms, total=85.43s, count=275, min=289.8ms, max=553.4ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8324.1ms, max=8324.1ms + physics_step: mean=20.6ms, total=5.66s, count=275, min=14.0ms, max=28.0ms + save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3038.6ms, max=3038.6ms + task_specific_sample: mean=289.2ms, total=1.45s, count=5, min=165.5ms, max=451.9ms + task_sampling: mean=374.5ms, total=1.12s, count=3, min=329.5ms, max=455.8ms + task_sampling_failed: mean=168.6ms, total=337.2ms, count=2, min=167.9ms, max=169.3ms + scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=1.0ms, max=2.7ms + mj_forward_sync: mean=412.9us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:36:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:36:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:36:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:36:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:36:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:36:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:36:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195527m [env.py: 870] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:36:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27320399 -0.92822703 -0.19552713] yaw=-46.2deg [env.py: 1019] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:36:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=171.1ms, total=171.1ms [env.py: 1075] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -0.928, -0.196) [env.py: 1079] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/12 06:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:36:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:36:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:36:42 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 06:36:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 06:36:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:36:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:36:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:36:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.160s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:36:45 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:36:46 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 06:36:46 WARNING: [Worker 0] No trajectory data to save for chunk_011 [pipeline.py: 234] +05/12 06:36:46 INFO: [Worker 0] Worker 0 completed house 1: 20/24 successful episodes [pipeline.py: 1323] +05/12 06:36:46 INFO: [Worker 0] [PROFILE] House 1 complete: 20/24 successful, 24 episodes, total_time=6304.92s + House averages: + episode_total: mean=49.71s, total=3579.44s, count=72, min=164.3ms, max=180138.9ms + sensor_polling: mean=341.2ms, total=2262.27s, count=6630, min=289.8ms, max=874.7ms + save_trajectories: mean=8.90s, total=177.99s, count=20, min=7995.3ms, max=10906.7ms + physics_step: mean=22.3ms, total=147.95s, count=6630, min=13.1ms, max=130.1ms + save_batch_prep: mean=3.39s, total=67.87s, count=20, min=2974.9ms, max=4193.8ms + task_specific_sample: mean=409.9ms, total=29.51s, count=72, min=161.6ms, max=987.6ms + task_sampling: mean=466.5ms, total=24.26s, count=52, min=289.5ms, max=991.6ms + task_sampling_failed: mean=429.9ms, total=8.60s, count=20, min=164.2ms, max=3241.8ms + scene_load: mean=2.87s, total=2.87s, count=1, min=2870.6ms, max=2870.6ms + scene_env_create: mean=1.66s, total=1.66s, count=1, min=1664.6ms, max=1664.6ms + scene_compile: mean=1.06s, total=1.06s, count=1, min=1062.4ms, max=1062.4ms + compile_mujoco: mean=536.6ms, total=536.6ms, count=1, min=536.6ms, max=536.6ms + compile_xml_load: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms + scene_randomize: mean=1.5ms, total=108.5ms, count=72, min=0.9ms, max=6.4ms + scene_init: mean=96.6ms, total=96.6ms, count=1, min=96.6ms, max=96.6ms + compile_aux_objects: mean=50.9ms, total=50.9ms, count=1, min=50.9ms, max=50.9ms + compile_aux_policy_objects: mean=50.9ms, total=50.9ms, count=1, min=50.9ms, max=50.9ms + scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + mj_forward_sync: mean=479.3us, total=34.5ms, count=72, min=0.4ms, max=4.4ms + asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=14.6us, total=0.8ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 06:36:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 06:36:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=6304.92s + Worker averages: + episode_total: mean=49.71s, total=3579.44s, count=72, min=164.3ms, max=180138.9ms + sensor_polling: mean=341.2ms, total=2262.27s, count=6630, min=289.8ms, max=874.7ms + save_trajectories: mean=8.90s, total=177.99s, count=20, min=7995.3ms, max=10906.7ms + physics_step: mean=22.3ms, total=147.95s, count=6630, min=13.1ms, max=130.1ms + save_batch_prep: mean=3.39s, total=67.87s, count=20, min=2974.9ms, max=4193.8ms + task_specific_sample: mean=409.9ms, total=29.51s, count=72, min=161.6ms, max=987.6ms + task_sampling: mean=466.5ms, total=24.26s, count=52, min=289.5ms, max=991.6ms + task_sampling_failed: mean=429.9ms, total=8.60s, count=20, min=164.2ms, max=3241.8ms + scene_load: mean=2.87s, total=2.87s, count=1, min=2870.6ms, max=2870.6ms + scene_env_create: mean=1.66s, total=1.66s, count=1, min=1664.6ms, max=1664.6ms + scene_compile: mean=1.06s, total=1.06s, count=1, min=1062.4ms, max=1062.4ms + compile_mujoco: mean=536.6ms, total=536.6ms, count=1, min=536.6ms, max=536.6ms + compile_xml_load: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms + scene_randomize: mean=1.5ms, total=108.5ms, count=72, min=0.9ms, max=6.4ms + scene_init: mean=96.6ms, total=96.6ms, count=1, min=96.6ms, max=96.6ms + compile_aux_objects: mean=50.9ms, total=50.9ms, count=1, min=50.9ms, max=50.9ms + compile_aux_policy_objects: mean=50.9ms, total=50.9ms, count=1, min=50.9ms, max=50.9ms + scene_asset_install: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + mj_forward_sync: mean=479.3us, total=34.5ms, count=72, min=0.4ms, max=4.4ms + asset_install_grasps: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=14.6us, total=0.8ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 06:36:48 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 06:36:48 INFO: Success count: 20, Total count: 24 [pipeline.py: 1491] +05/12 06:36:48 INFO: Success rate: 83.33% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_012/experiment_config_20260512_063823.pkl b/3drawers/sim_chunks/chunk_012/experiment_config_20260512_063823.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a73f340eddb613d654fdcf5a72447c783884bf8e --- /dev/null +++ b/3drawers/sim_chunks/chunk_012/experiment_config_20260512_063823.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc9a1f57812c48d90f2c2debbfe14481b04590beebae3f346b99a02e46a2b0a4 +size 8146 diff --git a/3drawers/sim_chunks/chunk_012/experiment_config_20260512_063825.pkl b/3drawers/sim_chunks/chunk_012/experiment_config_20260512_063825.pkl new file mode 100644 index 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0000000000000000000000000000000000000000..aa6866068cfb460540e0dd7d8506a62c6cd430d1 --- /dev/null +++ b/3drawers/sim_chunks/chunk_012/experiment_config_20260512_063828.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dcb8992f0c5792d670ee2baec01343560af487eaca439c6e807e0d7cc6bf0cc +size 8146 diff --git a/3drawers/sim_chunks/chunk_012/running_log.log b/3drawers/sim_chunks/chunk_012/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..81f73043841e3a4be4ebf13cec6c090b7d5857b7 --- /dev/null +++ b/3drawers/sim_chunks/chunk_012/running_log.log @@ -0,0 +1,14660 @@ +05/12 06:38:23 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 06:38:23 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 06:38:23 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 06:38:23 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_012'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41204, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 06:38:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 06:38:23 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 06:38:23 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 06:38:23 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 06:38:25 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 06:38:25 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 06:38:25 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 06:38:25 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_012'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41203, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 06:38:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 06:38:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 06:38:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 06:38:26 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 06:38:26 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 06:38:26 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 06:38:26 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 06:38:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:38:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:38:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:38:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187781m [env.py: 870] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:38:26 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 06:38:26 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 06:38:26 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 06:38:26 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 06:38:26 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_012'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41201, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 06:38:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 06:38:26 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 06:38:26 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17146401 -1.05211612 -0.18778101] yaw=-30.8deg [env.py: 1019] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:38:26 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.2ms, retries=187.6ms, total=203.8ms [env.py: 1075] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.171, -1.052, -0.188) [env.py: 1079] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.8 deg [env.py: 1082] +05/12 06:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:26 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 06:38:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:38:26 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 06:38:28 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 06:38:28 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 06:38:28 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 06:38:28 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_012'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41202, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 06:38:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 06:38:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 06:38:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 06:38:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 06:38:28 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 06:38:28 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 06:38:28 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 06:38:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:38:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:38:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:38:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:38:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156879m [env.py: 870] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:38:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 06:38:28 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12983493 -1.11021155 -0.15687926] yaw=-31.5deg [env.py: 1019] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2931085 -1.05586534 -0.15687926] yaw=-46.4deg [env.py: 1019] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.7ms, retries=217.7ms, total=234.4ms [env.py: 1075] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.130, -1.110, -0.157) [env.py: 1079] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.5 deg [env.py: 1082] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:28 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 06:38:28 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 06:38:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:38:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:38:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:38:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:38:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105427m [env.py: 870] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:38:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:28 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 06:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32865426 -1.22315186 -0.10542729] yaw=-35.2deg [env.py: 1019] +05/12 06:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=24.1ms, retries=234.9ms, total=259.0ms [env.py: 1075] +05/12 06:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.223, -0.105) [env.py: 1079] +05/12 06:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg [env.py: 1082] +05/12 06:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 06:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:38:29 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 06:38:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:38:29 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 06:38:30 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 06:38:30 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 06:38:31 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 06:38:31 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 06:38:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:38:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:38:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:38:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:38:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139542m [env.py: 870] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:38:31 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56180759 -0.92529733 -0.13954184] yaw=-67.9deg [env.py: 1019] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:38:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.3ms, retries=224.9ms, total=241.3ms [env.py: 1075] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.925, -0.140) [env.py: 1079] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/12 06:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:38:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:38:31 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 06:38:55 INFO: [Worker 0] Warmed up parallel IK solver in 28.610s [base_object_manipulation_planner_policy.py: 377] +05/12 06:38:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:38:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:38:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:38:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.829s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:38:57 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.734[m] 74.702[deg] [grasp_sample.py: 539] +05/12 06:38:58 INFO: [Worker 0] Warmed up parallel IK solver in 28.825s [base_object_manipulation_planner_policy.py: 377] +05/12 06:38:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:38:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:38:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:38:58 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:38:59 INFO: [Worker 0] Warmed up parallel IK solver in 30.855s [base_object_manipulation_planner_policy.py: 377] +05/12 06:38:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:38:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126117m [env.py: 870] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.9ms, total=194.9ms [env.py: 1105] +05/12 06:39:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:39:00 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:39:01 INFO: [Worker 0] Warmed up parallel IK solver in 29.621s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100032m [env.py: 870] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28327834 -0.86615552 -0.10003219] yaw=-43.1deg [env.py: 1019] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.651s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:01 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=197.3ms, total=197.3ms [env.py: 1075] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -0.866, -0.100) [env.py: 1079] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.1 deg [env.py: 1082] +05/12 06:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:01 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.472s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:02 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.674[m] 77.860[deg] [grasp_sample.py: 539] +05/12 06:39:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124811m [env.py: 870] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.063s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.685[m] 82.448[deg] [grasp_sample.py: 539] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47721395 -0.90194088 -0.12481095] yaw=-61.3deg [env.py: 1019] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=186.9ms, total=186.9ms [env.py: 1075] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -0.902, -0.125) [env.py: 1079] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/12 06:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:03 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.554s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:03 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:04 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:39:04 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:39:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140563m [env.py: 870] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.432s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.765[m] 83.960[deg] [grasp_sample.py: 539] +05/12 06:39:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=184.3ms, total=184.3ms [env.py: 1105] +05/12 06:39:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:39:05 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:39:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147199m [env.py: 870] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18189621 -1.15633441 -0.14719864] yaw=-29.3deg [env.py: 1019] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=319.0ms, total=319.0ms [env.py: 1075] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -1.156, -0.147) [env.py: 1079] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg [env.py: 1082] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183678m [env.py: 870] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:06 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52947154 -0.85773837 -0.18367846] yaw=-53.5deg [env.py: 1019] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.1ms, total=172.1ms [env.py: 1075] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.858, -0.184) [env.py: 1079] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:06 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:06 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:39:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147764m [env.py: 870] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16563293 -1.11373103 -0.14776399] yaw=-45.8deg [env.py: 1019] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=199.7ms, total=199.8ms [env.py: 1075] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.166, -1.114, -0.148) [env.py: 1079] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/12 06:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:07 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113917m [env.py: 870] +05/12 06:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=194.0ms, total=194.0ms [env.py: 1105] +05/12 06:39:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:39:08 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:39:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.945s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.746[m] 81.138[deg] [grasp_sample.py: 539] +05/12 06:39:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:39:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:39:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:39:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:39:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187602m [env.py: 870] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48467444 -0.91012035 -0.18760188] yaw=-65.3deg [env.py: 1019] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38945854 -0.96613202 -0.18760188] yaw=-43.0deg [env.py: 1019] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.4ms, total=197.5ms [env.py: 1075] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -0.910, -0.188) [env.py: 1079] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/12 06:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:09 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.556s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.671[m] 81.530[deg] [grasp_sample.py: 539] +05/12 06:39:12 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:39:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194364m [env.py: 870] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40315483 -1.12669356 -0.19436357] yaw=-50.7deg [env.py: 1019] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33193019 -0.85750819 -0.19436357] yaw=-56.1deg [env.py: 1019] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.2ms [env.py: 1075] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.127, -0.194) [env.py: 1079] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 06:39:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:14 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:14 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:39:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.911s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.600[m] 90.499[deg] [grasp_sample.py: 539] +05/12 06:39:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:39:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:39:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:39:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:39:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141255m [env.py: 870] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37576571 -1.06908244 -0.14125502] yaw=-55.6deg [env.py: 1019] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23423526 -1.0397617 -0.14125502] yaw=-54.1deg [env.py: 1019] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=207.8ms, total=207.9ms [env.py: 1075] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -1.069, -0.141) [env.py: 1079] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:16 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.940s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.649[m] 83.624[deg] [grasp_sample.py: 539] +05/12 06:39:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:39:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:39:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:39:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:39:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.610s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:19 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.678[m] 84.202[deg] [grasp_sample.py: 539] +05/12 06:39:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:39:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167734m [env.py: 870] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40724143 -0.83581293 -0.16773351] yaw=-48.7deg [env.py: 1019] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.1ms [env.py: 1075] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -0.836, -0.168) [env.py: 1079] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg [env.py: 1082] +05/12 06:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:22 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.329s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:24 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106838m [env.py: 870] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3347153 -0.90853006 -0.10683815] yaw=-63.8deg [env.py: 1019] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31070871 -1.06582604 -0.10683815] yaw=-48.9deg [env.py: 1019] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.7ms, total=208.8ms [env.py: 1075] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.909, -0.107) [env.py: 1079] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg [env.py: 1082] +05/12 06:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:25 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.299s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:27 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122885m [env.py: 870] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18283863 -1.03728844 -0.12288547] yaw=-38.8deg [env.py: 1019] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38512785 -1.10537375 -0.12288547] yaw=-39.4deg [env.py: 1019] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=382.6ms, total=382.7ms [env.py: 1075] +05/12 06:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -1.037, -0.123) [env.py: 1079] +05/12 06:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg [env.py: 1082] +05/12 06:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 06:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:29 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.289s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:30 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125539m [env.py: 870] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.3ms, total=216.3ms [env.py: 1105] +05/12 06:39:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:39:32 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:39:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181820m [env.py: 870] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54160967 -0.99580874 -0.18182034] yaw=-72.2deg [env.py: 1019] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66432089 -0.97200074 -0.18182034] yaw=-67.8deg [env.py: 1019] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39467067 -1.0433791 -0.18182034] yaw=-39.8deg [env.py: 1019] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.5ms, total=188.5ms [env.py: 1075] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -0.996, -0.182) [env.py: 1079] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg [env.py: 1082] +05/12 06:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:33 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.619[m] 94.982[deg] [grasp_sample.py: 539] +05/12 06:39:36 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:39:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175275m [env.py: 870] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45113412 -0.75315306 -0.17527504] yaw=-72.0deg [env.py: 1019] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56784259 -0.99013977 -0.17527504] yaw=-62.2deg [env.py: 1019] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=212.0ms [env.py: 1075] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.753, -0.175) [env.py: 1079] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg [env.py: 1082] +05/12 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:37 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.287s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:39 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134865m [env.py: 870] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.7ms, total=205.8ms [env.py: 1105] +05/12 06:39:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:39:40 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:39:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132270m [env.py: 870] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13199602 -1.11543064 -0.13227038] yaw=-27.1deg [env.py: 1019] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35254832 -1.19789871 -0.13227038] yaw=-30.6deg [env.py: 1019] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.5ms, total=269.6ms [env.py: 1075] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.132, -1.115, -0.132) [env.py: 1079] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.1 deg [env.py: 1082] +05/12 06:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:42 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:44 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120616m [env.py: 870] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17349943 -1.07046842 -0.12061573] yaw=-47.4deg [env.py: 1019] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53010047 -0.92554218 -0.12061573] yaw=-51.1deg [env.py: 1019] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.8ms [env.py: 1075] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.070, -0.121) [env.py: 1079] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/12 06:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:45 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:47 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137541m [env.py: 870] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=239.1ms, total=239.2ms [env.py: 1105] +05/12 06:39:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:39:48 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:39:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149933m [env.py: 870] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40361733 -0.99777601 -0.14993284] yaw=-51.9deg [env.py: 1019] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19383239 -1.00944031 -0.14993284] yaw=-53.7deg [env.py: 1019] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.4ms [env.py: 1075] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.998, -0.150) [env.py: 1079] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 06:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:50 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.538s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:39:52 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.705[m] 78.371[deg] [grasp_sample.py: 539] +05/12 06:39:53 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:39:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150501m [env.py: 870] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48773047 -0.76335202 -0.15050069] yaw=-66.4deg [env.py: 1019] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:39:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=261.7ms, total=261.8ms [env.py: 1075] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.763, -0.151) [env.py: 1079] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg [env.py: 1082] +05/12 06:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:39:55 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 06:39:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:39:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:39:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:39:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:39:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.334s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:39:57 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:39:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:39:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:39:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:39:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192408m [env.py: 870] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=346.6ms, total=346.7ms [env.py: 1105] +05/12 06:39:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:39:58 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:40:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:40:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162972m [env.py: 870] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19515295 -0.97486296 -0.16297248] yaw=-40.8deg [env.py: 1019] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39994342 -0.93599935 -0.16297248] yaw=-45.1deg [env.py: 1019] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54415839 -0.77742967 -0.16297248] yaw=-62.3deg [env.py: 1019] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=294.0ms, total=294.1ms [env.py: 1075] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -0.975, -0.163) [env.py: 1079] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.8 deg [env.py: 1082] +05/12 06:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:00 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.494s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:40:02 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:40:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141386m [env.py: 870] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=269.3ms, total=269.3ms [env.py: 1105] +05/12 06:40:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:40:03 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:40:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154660m [env.py: 870] +05/12 06:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50712738 -1.06209118 -0.15466046] yaw=-48.2deg [env.py: 1019] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=267.7ms, total=267.8ms [env.py: 1075] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -1.062, -0.155) [env.py: 1079] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/12 06:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:05 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.125s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.637[m] 90.998[deg] [grasp_sample.py: 539] +05/12 06:40:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:07 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:40:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190134m [env.py: 870] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30282668 -1.0831953 -0.19013414] yaw=-48.6deg [env.py: 1019] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36472775 -0.99670217 -0.19013414] yaw=-60.7deg [env.py: 1019] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=384.9ms, total=385.0ms [env.py: 1075] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.303, -1.083, -0.190) [env.py: 1079] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg [env.py: 1082] +05/12 06:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:09 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:40:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.054s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:12 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.675[m] 85.545[deg] [grasp_sample.py: 539] +05/12 06:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:14 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191615m [env.py: 870] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=236.3ms, total=236.4ms [env.py: 1105] +05/12 06:40:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:40:15 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:40:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166138m [env.py: 870] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.0ms, total=199.0ms [env.py: 1105] +05/12 06:40:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:40:16 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:40:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:40:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:40:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174171m [env.py: 870] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.5ms, total=199.5ms [env.py: 1105] +05/12 06:40:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:40:18 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:40:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.061[m] 2.402[deg] [grasp_sample.py: 539] +05/12 06:40:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148554m [env.py: 870] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42753108 -0.88878631 -0.14855408] yaw=-68.2deg [env.py: 1019] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19609198 -1.02471828 -0.14855408] yaw=-35.6deg [env.py: 1019] +05/12 06:40:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.6ms, total=224.6ms [env.py: 1075] +05/12 06:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -0.889, -0.149) [env.py: 1079] +05/12 06:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg [env.py: 1082] +05/12 06:40:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 06:40:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:20 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:40:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196773m [env.py: 870] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.6ms, total=208.7ms [env.py: 1105] +05/12 06:40:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:40:22 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:40:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.681s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.781[m] 97.627[deg] [grasp_sample.py: 539] +05/12 06:40:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112123m [env.py: 870] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.4ms, total=219.5ms [env.py: 1105] +05/12 06:40:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:40:24 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:40:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:40:25 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:40:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164268m [env.py: 870] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23240602 -1.04271865 -0.16426817] yaw=-37.6deg [env.py: 1019] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21947002 -1.13120364 -0.16426817] yaw=-36.0deg [env.py: 1019] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.1ms [env.py: 1075] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.043, -0.164) [env.py: 1079] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg [env.py: 1082] +05/12 06:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:26 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114014m [env.py: 870] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42377159 -1.06690947 -0.11401446] yaw=-45.4deg [env.py: 1019] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.2ms, total=209.2ms [env.py: 1075] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.424, -1.067, -0.114) [env.py: 1079] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 06:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:27 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:40:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.453s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:30 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.679[m] 78.255[deg] [grasp_sample.py: 539] +05/12 06:40:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.392s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:30 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.734[m] 89.114[deg] [grasp_sample.py: 539] +05/12 06:40:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:40:31 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:40:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:40:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:40:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152575m [env.py: 870] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25162756 -1.19558339 -0.15257476] yaw=-27.4deg [env.py: 1019] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.0ms, total=203.0ms [env.py: 1075] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.196, -0.153) [env.py: 1079] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.4 deg [env.py: 1082] +05/12 06:40:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:32 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.934s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:38 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.640[m] 84.423[deg] [grasp_sample.py: 539] +05/12 06:40:40 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:40:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174349m [env.py: 870] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48373531 -0.93526169 -0.17434892] yaw=-50.7deg [env.py: 1019] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4547675 -0.93946686 -0.17434892] yaw=-56.7deg [env.py: 1019] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=296.5ms, total=296.5ms [env.py: 1075] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.935, -0.174) [env.py: 1079] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 06:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:41 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:40:45 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.720[m] 88.220[deg] [grasp_sample.py: 539] +05/12 06:40:46 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:40:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100291m [env.py: 870] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44193556 -0.75612317 -0.10029107] yaw=-64.4deg [env.py: 1019] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=327.1ms, total=327.1ms [env.py: 1075] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -0.756, -0.100) [env.py: 1079] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/12 06:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:48 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.299s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:40:50 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:40:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184627m [env.py: 870] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16544633 -1.04451323 -0.18462687] yaw=-34.2deg [env.py: 1019] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35886239 -0.83677371 -0.18462687] yaw=-59.1deg [env.py: 1019] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38696631 -1.06567508 -0.18462687] yaw=-42.1deg [env.py: 1019] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.1ms, total=212.1ms [env.py: 1075] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -1.045, -0.185) [env.py: 1079] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.2 deg [env.py: 1082] +05/12 06:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:51 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.255s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:40:53 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:40:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:40:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:40:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:40:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:40:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:40:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134405m [env.py: 870] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:40:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59788043 -0.79330194 -0.13440476] yaw=-78.5deg [env.py: 1019] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:40:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.5ms, total=237.6ms [env.py: 1075] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.793, -0.134) [env.py: 1079] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.5 deg [env.py: 1082] +05/12 06:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:40:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:40:54 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 06:40:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/12 06:40:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:40:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:40:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:40:56 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:41:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.453s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:41:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.769[m] 84.921[deg] [grasp_sample.py: 539] +05/12 06:41:05 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:41:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:41:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:41:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:41:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:41:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:41:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165554m [env.py: 870] +05/12 06:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:41:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32473226 -1.00479318 -0.16555402] yaw=-42.2deg [env.py: 1019] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:41:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.2ms [env.py: 1075] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.005, -0.166) [env.py: 1079] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 06:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 06:41:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:41:07 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 06:41:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 06:41:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:41:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:41:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:41:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:41:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.747[m] 82.469[deg] [grasp_sample.py: 539] +05/12 06:41:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:41:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:41:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:41:14 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:41:15 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:41:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:41:15 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 06:41:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:41:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:41:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.97s (batch: 3.16s, save: 8.81s) [pipeline.py: 300] +05/12 06:41:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:41:28 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=4.39s: + episode_total: mean=35.45s, total=177.25s, count=5, min=202.4ms, max=134739.5ms + sensor_polling: mean=364.0ms, total=92.83s, count=255, min=301.6ms, max=549.1ms + save_trajectories: mean=8.81s, total=8.81s, count=1, min=8807.1ms, max=8807.1ms + physics_step: mean=24.3ms, total=6.19s, count=255, min=14.8ms, max=57.7ms + task_sampling: mean=1.10s, total=4.39s, count=4, min=390.2ms, max=3203.3ms + save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3161.3ms, max=3161.3ms + scene_load: mean=2.62s, total=2.62s, count=1, min=2623.8ms, max=2623.8ms + task_specific_sample: mean=391.4ms, total=1.96s, count=5, min=199.3ms, max=576.8ms + scene_env_create: mean=1.46s, total=1.46s, count=1, min=1455.6ms, max=1455.6ms + scene_compile: mean=1.02s, total=1.02s, count=1, min=1022.2ms, max=1022.2ms + compile_mujoco: mean=694.8ms, total=694.8ms, count=1, min=694.8ms, max=694.8ms + compile_xml_load: mean=218.5ms, total=218.5ms, count=1, min=218.5ms, max=218.5ms + task_sampling_failed: mean=202.4ms, total=202.4ms, count=1, min=202.4ms, max=202.4ms + scene_init: mean=99.1ms, total=99.1ms, count=1, min=99.1ms, max=99.1ms + compile_aux_objects: mean=90.7ms, total=90.7ms, count=1, min=90.7ms, max=90.7ms + compile_aux_policy_objects: mean=90.7ms, total=90.7ms, count=1, min=90.7ms, max=90.7ms + scene_asset_install: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + asset_install_grasps: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + scene_randomize: mean=1.0ms, total=5.2ms, count=5, min=0.9ms, max=1.1ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + mj_forward_sync: mean=380.7us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=28.2us, total=0.1ms, count=4, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:41:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:41:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:41:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:41:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:41:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:41:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148630m [env.py: 870] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:41:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.8ms, total=200.8ms [env.py: 1105] +05/12 06:41:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:41:29 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:41:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:41:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:41:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:41:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:41:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:41:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120666m [env.py: 870] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:41:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5130288 -0.96038044 -0.1206662 ] yaw=-54.3deg [env.py: 1019] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:41:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1075] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.960, -0.121) [env.py: 1079] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 06:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:41:31 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 06:41:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 06:41:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:41:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:41:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:41:33 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:41:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:41:33 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 06:41:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.444s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:41:33 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.728[m] 89.231[deg] [grasp_sample.py: 539] +05/12 06:41:34 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:41:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:41:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:41:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:41:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:41:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:41:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:41:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157077m [env.py: 870] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:41:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51443345 -1.01834878 -0.15707739] yaw=-48.1deg [env.py: 1019] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:41:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1075] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -1.018, -0.157) [env.py: 1079] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 06:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:41:36 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 06:41:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 06:41:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:41:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:41:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:41:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:41:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.643[m] 77.585[deg] [grasp_sample.py: 539] +05/12 06:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:41:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:41:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:41:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:41:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:41:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:41:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:41:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.12s (batch: 3.65s, save: 8.47s) [pipeline.py: 300] +05/12 06:41:46 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=4.63s: + episode_total: mean=32.69s, total=196.15s, count=6, min=191.7ms, max=150215.3ms + sensor_polling: mean=391.0ms, total=104.39s, count=267, min=323.1ms, max=708.5ms + save_trajectories: mean=8.47s, total=8.47s, count=1, min=8470.6ms, max=8470.6ms + physics_step: mean=24.5ms, total=6.55s, count=267, min=15.1ms, max=72.9ms + task_sampling: mean=1.16s, total=4.63s, count=4, min=413.1ms, max=3371.4ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3646.9ms, max=3646.9ms + scene_load: mean=2.85s, total=2.85s, count=1, min=2854.1ms, max=2854.1ms + task_specific_sample: mean=359.2ms, total=2.16s, count=6, min=188.9ms, max=514.8ms + scene_env_create: mean=1.53s, total=1.53s, count=1, min=1532.7ms, max=1532.7ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1178.3ms, max=1178.3ms + compile_mujoco: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms + compile_xml_load: mean=500.1ms, total=500.1ms, count=1, min=500.1ms, max=500.1ms + task_sampling_failed: mean=197.3ms, total=394.5ms, count=2, min=191.7ms, max=202.8ms + scene_init: mean=97.1ms, total=97.1ms, count=1, min=97.1ms, max=97.1ms + compile_aux_objects: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms + compile_aux_policy_objects: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms + scene_asset_install: mean=45.8ms, total=45.8ms, count=1, min=45.8ms, max=45.8ms + asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + compile_robot_add: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + scene_randomize: mean=1.1ms, total=6.6ms, count=6, min=0.9ms, max=1.8ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=380.2us, total=2.3ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=25.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:41:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:41:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:41:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:41:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:41:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:41:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123355m [env.py: 870] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:41:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4377489 -0.95146413 -0.12335451] yaw=-53.8deg [env.py: 1019] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16774137 -1.06168971 -0.12335451] yaw=-44.5deg [env.py: 1019] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:41:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.6ms, total=217.6ms [env.py: 1075] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.951, -0.123) [env.py: 1079] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 06:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:41:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:41:48 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 06:41:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 06:41:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:41:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:41:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:41:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:41:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.768[m] 87.914[deg] [grasp_sample.py: 539] +05/12 06:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:41:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:41:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:41:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:42:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:42:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:42:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:42:18 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:42:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:42:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:42:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:42:41 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:42:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:42:41 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 06:42:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:42:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:42:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:42:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:42:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 06:42:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:42:45 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.040[m] 3.357[deg] [grasp_sample.py: 539] +05/12 06:42:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:42:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:42:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:42:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:42:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:42:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.70s (batch: 3.85s, save: 9.85s) [pipeline.py: 300] +05/12 06:42:56 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=3.92s: + episode_total: mean=52.42s, total=262.12s, count=5, min=217.0ms, max=150680.5ms + sensor_polling: mean=351.8ms, total=153.40s, count=436, min=301.7ms, max=540.8ms + physics_step: mean=22.6ms, total=9.87s, count=436, min=14.8ms, max=88.4ms + save_trajectories: mean=9.85s, total=9.85s, count=1, min=9849.2ms, max=9849.2ms + task_sampling: mean=1.31s, total=3.92s, count=3, min=367.6ms, max=3120.4ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3851.7ms, max=3851.7ms + scene_load: mean=2.66s, total=2.66s, count=1, min=2657.0ms, max=2657.0ms + task_specific_sample: mean=339.5ms, total=1.70s, count=5, min=213.6ms, max=461.2ms + scene_env_create: mean=1.39s, total=1.39s, count=1, min=1390.2ms, max=1390.2ms + scene_compile: mean=1.12s, total=1.12s, count=1, min=1123.7ms, max=1123.7ms + compile_mujoco: mean=622.4ms, total=622.4ms, count=1, min=622.4ms, max=622.4ms + task_sampling_failed: mean=222.2ms, total=444.4ms, count=2, min=217.0ms, max=227.4ms + compile_xml_load: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms + scene_init: mean=98.9ms, total=98.9ms, count=1, min=98.9ms, max=98.9ms + compile_aux_objects: mean=94.2ms, total=94.2ms, count=1, min=94.2ms, max=94.2ms + compile_aux_policy_objects: mean=94.2ms, total=94.2ms, count=1, min=94.2ms, max=94.2ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + compile_robot_add: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + scene_randomize: mean=1.0ms, total=5.2ms, count=5, min=0.9ms, max=1.1ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=411.8us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=23.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:42:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:42:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:42:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:42:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194880m [env.py: 870] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15217211 -1.12020391 -0.19488044] yaw=-38.0deg [env.py: 1019] +05/12 06:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:42:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=392.5ms, total=392.6ms [env.py: 1075] +05/12 06:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.152, -1.120, -0.195) [env.py: 1079] +05/12 06:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/12 06:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 06:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:42:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:42:58 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 06:42:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 06:42:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:42:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:42:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:42:58 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:43:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.639s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:43:00 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.723[m] 87.240[deg] [grasp_sample.py: 539] +05/12 06:43:01 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:43:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:43:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:43:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:43:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:43:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:43:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:43:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:43:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144383m [env.py: 870] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:43:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=275.1ms, total=275.1ms [env.py: 1105] +05/12 06:43:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:43:03 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:43:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:43:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:43:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:43:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:43:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198792m [env.py: 870] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:43:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=259.9ms, total=259.9ms [env.py: 1105] +05/12 06:43:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:43:04 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:43:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:43:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:43:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:43:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:43:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:43:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:43:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118347m [env.py: 870] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:43:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28218816 -1.21141493 -0.11834699] yaw=-41.7deg [env.py: 1019] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:43:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.8ms, total=263.9ms [env.py: 1075] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.211, -0.118) [env.py: 1079] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg [env.py: 1082] +05/12 06:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:43:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:43:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:43:06 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 06:43:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 06:43:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:43:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:43:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:43:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.637s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:43:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.681[m] 83.281[deg] [grasp_sample.py: 539] +05/12 06:43:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:43:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:43:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:43:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:43:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:43:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:43:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:43:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:43:18 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 06:43:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:43:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:43:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.26s (batch: 3.33s, save: 8.93s) [pipeline.py: 300] +05/12 06:43:31 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=13.12s: + episode_total: mean=8.93s, total=268.00s, count=30, min=207.1ms, max=144555.5ms + sensor_polling: mean=356.8ms, total=100.96s, count=283, min=302.0ms, max=716.3ms + task_sampling: mean=596.2ms, total=13.12s, count=22, min=396.5ms, max=3210.3ms + task_specific_sample: mean=413.1ms, total=12.39s, count=30, min=204.2ms, max=656.7ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8930.3ms, max=8930.3ms + physics_step: mean=22.3ms, total=6.31s, count=283, min=19.3ms, max=34.9ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3330.7ms, max=3330.7ms + scene_load: mean=2.63s, total=2.63s, count=1, min=2630.9ms, max=2630.9ms + task_sampling_failed: mean=247.8ms, total=1.98s, count=8, min=207.1ms, max=356.6ms + scene_env_create: mean=1.43s, total=1.43s, count=1, min=1430.9ms, max=1430.9ms + scene_compile: mean=989.8ms, total=989.8ms, count=1, min=989.8ms, max=989.8ms + compile_mujoco: mean=600.0ms, total=600.0ms, count=1, min=600.0ms, max=600.0ms + compile_xml_load: mean=301.2ms, total=301.2ms, count=1, min=301.2ms, max=301.2ms + scene_init: mean=154.1ms, total=154.1ms, count=1, min=154.1ms, max=154.1ms + compile_aux_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms + compile_aux_policy_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms + scene_asset_install: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms + asset_install_grasps: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + scene_randomize: mean=1.1ms, total=32.7ms, count=30, min=0.9ms, max=1.9ms + mj_forward_sync: mean=430.2us, total=12.9ms, count=30, min=0.4ms, max=0.7ms + compile_robot_add: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=14.6us, total=0.3ms, count=22, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=29, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:43:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:43:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:43:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:43:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:43:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:43:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:43:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156015m [env.py: 870] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:43:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56949267 -0.84285497 -0.15601488] yaw=-62.3deg [env.py: 1019] +05/12 06:43:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:43:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.9ms, total=211.0ms [env.py: 1075] +05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.843, -0.156) [env.py: 1079] +05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/12 06:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:43:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:43:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:43:33 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 06:43:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 06:43:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:43:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:43:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:43:34 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:43:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.332s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:43:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.729[m] 88.643[deg] [grasp_sample.py: 539] +05/12 06:43:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:43:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:43:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:43:54 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:43:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:43:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:43:58 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:44:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:44:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:44:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:44:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.50s (batch: 3.40s, save: 10.10s) [pipeline.py: 300] +05/12 06:44:08 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.83s: + episode_total: mean=52.04s, total=156.13s, count=3, min=211.1ms, max=152837.5ms + sensor_polling: mean=342.5ms, total=102.76s, count=300, min=296.9ms, max=609.0ms + save_trajectories: mean=10.10s, total=10.10s, count=1, min=10105.0ms, max=10105.0ms + physics_step: mean=22.8ms, total=6.83s, count=300, min=14.6ms, max=34.0ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3399.7ms, max=3399.7ms + task_specific_sample: mean=342.6ms, total=1.03s, count=3, min=206.2ms, max=418.5ms + task_sampling: mean=413.3ms, total=826.5ms, count=2, min=405.4ms, max=421.1ms + task_sampling_failed: mean=211.1ms, total=211.1ms, count=1, min=211.1ms, max=211.1ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=409.5us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:44:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:44:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:44:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:44:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143331m [env.py: 870] +05/12 06:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=227.6ms, total=227.7ms [env.py: 1105] +05/12 06:44:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:44:10 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:44:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:44:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:44:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:44:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:44:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:44:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:44:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153336m [env.py: 870] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:44:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5311645 -1.00591459 -0.15333551] yaw=-53.0deg [env.py: 1019] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:44:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=155.2ms, total=155.2ms [env.py: 1075] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.531, -1.006, -0.153) [env.py: 1079] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 06:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:44:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:44:11 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 06:44:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 06:44:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:44:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:44:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:44:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:44:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.668[m] 81.074[deg] [grasp_sample.py: 539] +05/12 06:44:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:44:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:44:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:44:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:44:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:44:18 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:44:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:44:18 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 06:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:44:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:44:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.69s (batch: 3.29s, save: 12.40s) [pipeline.py: 300] +05/12 06:44:34 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s: + episode_total: mean=167.42s, total=167.42s, count=1, min=167425.0ms, max=167425.0ms + sensor_polling: mean=380.5ms, total=110.35s, count=290, min=319.4ms, max=606.1ms + save_trajectories: mean=12.40s, total=12.40s, count=1, min=12400.8ms, max=12400.8ms + physics_step: mean=23.6ms, total=6.84s, count=290, min=19.8ms, max=36.7ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3290.9ms, max=3290.9ms + task_sampling: mean=444.7ms, total=444.7ms, count=1, min=444.7ms, max=444.7ms + task_specific_sample: mean=441.5ms, total=441.5ms, count=1, min=441.5ms, max=441.5ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:44:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:44:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:44:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:44:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:44:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:44:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:44:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159866m [env.py: 870] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:44:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66691421 -0.97661782 -0.15986634] yaw=-78.7deg [env.py: 1019] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35132873 -1.06822111 -0.15986634] yaw=-59.1deg [env.py: 1019] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:44:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=256.3ms, total=256.4ms [env.py: 1075] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.667, -0.977, -0.160) [env.py: 1079] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.7 deg [env.py: 1082] +05/12 06:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:44:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:44:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:44:36 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 06:44:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/12 06:44:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:44:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:44:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.093s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:44:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.594[m] 85.747[deg] [grasp_sample.py: 539] +05/12 06:44:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:44:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:44:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:44:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:44:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:44:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 500 non-colliding grasps [grasp_sample.py: 465] +05/12 06:44:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:44:40 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.103[m] 15.446[deg] [grasp_sample.py: 539] +05/12 06:44:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:44:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:44:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:44:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:44:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:44:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:44:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 475 non-colliding grasps [grasp_sample.py: 465] +05/12 06:44:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:44:55 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.097[m] 14.460[deg] [grasp_sample.py: 539] +05/12 06:44:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:44:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:44:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:45:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:45:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.466[m] 63.349[deg] [grasp_sample.py: 539] +05/12 06:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:45:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:45:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 475 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.459s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:07 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.097[m] 14.454[deg] [grasp_sample.py: 539] +05/12 06:45:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:45:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:45:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161899m [env.py: 870] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3333895 -0.8353929 -0.16189879] yaw=-60.3deg [env.py: 1019] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3212528 -1.0035959 -0.16189879] yaw=-39.3deg [env.py: 1019] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.7ms, total=249.7ms [env.py: 1075] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.835, -0.162) [env.py: 1079] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.3 deg [env.py: 1082] +05/12 06:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:09 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.410s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:45:10 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116834m [env.py: 870] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26086949 -1.21201942 -0.11683422] yaw=-43.0deg [env.py: 1019] +05/12 06:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.8ms, total=201.9ms [env.py: 1075] +05/12 06:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -1.212, -0.117) [env.py: 1079] +05/12 06:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 06:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 06:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:12 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:45:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.306s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 87.657[deg] [grasp_sample.py: 539] +05/12 06:45:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:45:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:45:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:45:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:45:17 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 06:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:45:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:45:21 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 06:45:21 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 06:45:21 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=0.44s: + episode_total: mean=108.81s, total=108.81s, count=1, min=108811.6ms, max=108811.6ms + sensor_polling: mean=340.4ms, total=59.91s, count=176, min=299.1ms, max=579.2ms + physics_step: mean=20.8ms, total=3.66s, count=176, min=13.2ms, max=32.8ms + task_sampling: mean=444.7ms, total=444.7ms, count=1, min=444.7ms, max=444.7ms + task_specific_sample: mean=440.8ms, total=440.8ms, count=1, min=440.8ms, max=440.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=375.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:45:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162436m [env.py: 870] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=261.8ms, total=261.9ms [env.py: 1105] +05/12 06:45:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:45:23 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:45:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185014m [env.py: 870] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1105] +05/12 06:45:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:45:24 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:45:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185185m [env.py: 870] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.4ms, total=203.5ms [env.py: 1105] +05/12 06:45:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:45:26 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:45:27 INFO: [Worker 0] Object is not in grasp! 0.00106 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:45:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:45:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189836m [env.py: 870] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17605798 -1.1154205 -0.18983605] yaw=-49.0deg [env.py: 1019] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.4ms, total=216.5ms [env.py: 1075] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.176, -1.115, -0.190) [env.py: 1079] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/12 06:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:28 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.477s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:28 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.579[deg] [grasp_sample.py: 539] +05/12 06:45:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:45:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:45:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:45:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:45:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.88s (batch: 3.13s, save: 9.75s) [pipeline.py: 300] +05/12 06:45:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.21s: + episode_total: mean=37.32s, total=149.26s, count=4, min=268.1ms, max=144806.3ms + sensor_polling: mean=368.8ms, total=100.32s, count=272, min=308.2ms, max=609.7ms + save_trajectories: mean=9.75s, total=9.75s, count=1, min=9750.7ms, max=9750.7ms + physics_step: mean=23.9ms, total=6.51s, count=272, min=19.6ms, max=33.8ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3126.7ms, max=3126.7ms + task_specific_sample: mean=436.8ms, total=1.75s, count=4, min=264.9ms, max=679.7ms + task_sampling: mean=603.9ms, total=1.21s, count=2, min=524.4ms, max=683.5ms + task_sampling_failed: mean=276.5ms, total=553.1ms, count=2, min=268.1ms, max=285.0ms + scene_randomize: mean=1.4ms, total=5.8ms, count=4, min=1.0ms, max=2.2ms + mj_forward_sync: mean=521.5us, total=2.1ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:45:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136748m [env.py: 870] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29651348 -0.94154219 -0.13674845] yaw=-44.2deg [env.py: 1019] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38343405 -0.96563383 -0.13674845] yaw=-63.2deg [env.py: 1019] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.6ms, total=232.7ms [env.py: 1075] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -0.942, -0.137) [env.py: 1079] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/12 06:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:32 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.895s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:34 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.728[m] 96.197[deg] [grasp_sample.py: 539] +05/12 06:45:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:45:34 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:45:35 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:45:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137806m [env.py: 870] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40342727 -1.05598946 -0.13780588] yaw=-54.8deg [env.py: 1019] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50064667 -0.99597277 -0.13780588] yaw=-52.7deg [env.py: 1019] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.0ms [env.py: 1075] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.056, -0.138) [env.py: 1079] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/12 06:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:35 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112549m [env.py: 870] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.2ms, total=202.2ms [env.py: 1105] +05/12 06:45:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:45:36 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:45:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115725m [env.py: 870] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=202.1ms, total=202.2ms [env.py: 1105] +05/12 06:45:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:45:38 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:45:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:45:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121454m [env.py: 870] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2907071 -1.18673467 -0.12145369] yaw=-37.7deg [env.py: 1019] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63544109 -0.93089639 -0.12145369] yaw=-75.3deg [env.py: 1019] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.8ms, total=202.9ms [env.py: 1075] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.187, -0.121) [env.py: 1079] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/12 06:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:40 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:40 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.714[m] 87.129[deg] [grasp_sample.py: 539] +05/12 06:45:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:45:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:45:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.081s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:44 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.698[m] 93.546[deg] [grasp_sample.py: 539] +05/12 06:45:45 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:45:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102608m [env.py: 870] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21045186 -0.9495007 -0.10260799] yaw=-54.9deg [env.py: 1019] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.1ms [env.py: 1075] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -0.950, -0.103) [env.py: 1079] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/12 06:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:47 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:45:49 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:45:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:45:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:45:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:45:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:45:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:45:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189596m [env.py: 870] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:45:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27089605 -0.974812 -0.18959577] yaw=-39.8deg [env.py: 1019] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:45:50 INFO: [Worker 0] Object is not in grasp! 0.00114 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:45:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:45:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:45:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=450.5ms, total=450.5ms [env.py: 1075] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -0.975, -0.190) [env.py: 1079] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.8 deg [env.py: 1082] +05/12 06:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:45:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 385 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:45:51 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 06:45:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 06:45:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:45:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:45:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:45:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.377s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:51 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.051[m] 0.559[deg] [grasp_sample.py: 539] +05/12 06:45:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:45:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:45:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.694s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:45:53 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.712[m] 79.083[deg] [grasp_sample.py: 539] +05/12 06:45:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:45:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:45:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:45:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:46:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:46:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:46:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:46:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:46:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:46:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:46:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:46:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:46:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:46:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:46:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:46:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:46:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:46:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:46:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:46:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 3.55s, save: 9.79s) [pipeline.py: 300] +05/12 06:46:46 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.38s: + episode_total: mean=77.91s, total=155.82s, count=2, min=256.2ms, max=155565.5ms + sensor_polling: mean=346.0ms, total=103.79s, count=300, min=306.3ms, max=622.0ms + save_trajectories: mean=9.79s, total=9.79s, count=1, min=9789.9ms, max=9789.9ms + physics_step: mean=23.0ms, total=6.91s, count=300, min=15.0ms, max=122.9ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3546.5ms, max=3546.5ms + task_specific_sample: mean=304.8ms, total=609.6ms, count=2, min=235.6ms, max=374.0ms + task_sampling: mean=376.6ms, total=376.6ms, count=1, min=376.6ms, max=376.6ms + task_sampling_failed: mean=256.2ms, total=256.2ms, count=1, min=256.2ms, max=256.2ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.0ms, max=2.9ms + mj_forward_sync: mean=506.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:46:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:46:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:46:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:46:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:46:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:46:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:46:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113581m [env.py: 870] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:46:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.521381 -0.94384058 -0.11358068] yaw=-70.2deg [env.py: 1019] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:46:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.0ms [env.py: 1075] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.944, -0.114) [env.py: 1079] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg [env.py: 1082] +05/12 06:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:46:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:46:48 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 06:46:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 06:46:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:46:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:46:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:46:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.716s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:46:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.685[m] 85.417[deg] [grasp_sample.py: 539] +05/12 06:46:51 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:46:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:46:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:46:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:46:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:46:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:46:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:46:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143623m [env.py: 870] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:46:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45287052 -0.76771151 -0.14362322] yaw=-59.4deg [env.py: 1019] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:46:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=276.8ms, total=276.8ms [env.py: 1075] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.768, -0.144) [env.py: 1079] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 06:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:46:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:46:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:46:53 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 06:46:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 06:46:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:46:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:46:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:46:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:46:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.570s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:46:55 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:46:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:46:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:46:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:46:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:46:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:46:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:46:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199890m [env.py: 870] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:46:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31510431 -0.89569148 -0.19989018] yaw=-58.1deg [env.py: 1019] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=329.0ms, total=329.1ms [env.py: 1075] +05/12 06:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -0.896, -0.200) [env.py: 1079] +05/12 06:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 06:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/12 06:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:46:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:46:57 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 06:46:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 06:46:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:46:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:46:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:46:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:47:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:47:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.182s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:47:05 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:47:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:47:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:47:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:47:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103159m [env.py: 870] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.480318 -0.86958619 -0.10315939] yaw=-54.5deg [env.py: 1019] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37998748 -1.11449951 -0.10315939] yaw=-42.6deg [env.py: 1019] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:47:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=221.6ms, total=221.7ms [env.py: 1075] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.870, -0.103) [env.py: 1079] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 06:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 06:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:47:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:47:07 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 06:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:47:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:47:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:47:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.620s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:47:09 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.807[m] 94.847[deg] [grasp_sample.py: 539] +05/12 06:47:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:47:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:47:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:47:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:47:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:47:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:47:23 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 06:47:28 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:47:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:47:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:47:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.56s (batch: 3.54s, save: 9.02s) [pipeline.py: 300] +05/12 06:47:37 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.47s: + episode_total: mean=59.36s, total=178.09s, count=3, min=2070.6ms, max=145120.6ms + sensor_polling: mean=373.4ms, total=116.13s, count=311, min=309.7ms, max=773.5ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9019.5ms, max=9019.5ms + physics_step: mean=22.8ms, total=7.08s, count=311, min=19.6ms, max=33.9ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3535.5ms, max=3535.5ms + task_sampling: mean=489.6ms, total=1.47s, count=3, min=403.9ms, max=592.8ms + task_specific_sample: mean=486.5ms, total=1.46s, count=3, min=401.5ms, max=588.4ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.0ms, max=2.8ms + mj_forward_sync: mean=467.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=19.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:47:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:47:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:47:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:47:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:47:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:47:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:47:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138820m [env.py: 870] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:47:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33262683 -1.12073332 -0.13881984] yaw=-44.9deg [env.py: 1019] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:47:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.3ms [env.py: 1075] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -1.121, -0.139) [env.py: 1079] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/12 06:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:47:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:47:38 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 06:47:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 06:47:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:47:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:47:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:47:39 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:47:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.949s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:47:42 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.702[m] 90.794[deg] [grasp_sample.py: 539] +05/12 06:47:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:47:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:47:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:47:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:47:48 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:47:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:47:48 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 06:47:59 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:47:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:47:59 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 06:48:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:48:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:48:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.02s (batch: 3.43s, save: 9.59s) [pipeline.py: 300] +05/12 06:48:02 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.89s: + episode_total: mean=74.50s, total=149.00s, count=2, min=2049.1ms, max=146949.4ms + sensor_polling: mean=357.0ms, total=98.54s, count=276, min=306.9ms, max=672.1ms + save_trajectories: mean=9.59s, total=9.59s, count=1, min=9586.7ms, max=9586.7ms + physics_step: mean=23.4ms, total=6.45s, count=276, min=18.5ms, max=146.8ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3429.4ms, max=3429.4ms + task_sampling: mean=447.0ms, total=894.0ms, count=2, min=404.3ms, max=489.7ms + task_specific_sample: mean=443.5ms, total=886.9ms, count=2, min=401.7ms, max=485.3ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.0ms, max=3.0ms + mj_forward_sync: mean=557.3us, total=1.1ms, count=2, min=0.4ms, max=0.7ms + policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:48:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108852m [env.py: 870] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32943149 -1.07315879 -0.10885249] yaw=-53.5deg [env.py: 1019] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:48:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=372.1ms, total=372.1ms [env.py: 1075] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.073, -0.109) [env.py: 1079] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 06:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:48:04 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 06:48:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 06:48:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:48:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:48:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:48:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.854s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:48:08 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.724[m] 90.616[deg] [grasp_sample.py: 539] +05/12 06:48:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:48:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:48:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:48:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:48:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.43s (batch: 4.40s, save: 10.03s) [pipeline.py: 300] +05/12 06:48:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:48:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:48:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:48:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:48:14 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=2.05s: + episode_total: mean=17.89s, total=161.05s, count=9, min=210.7ms, max=144575.7ms + sensor_polling: mean=350.7ms, total=97.14s, count=277, min=300.0ms, max=579.2ms + save_trajectories: mean=10.03s, total=10.03s, count=1, min=10027.5ms, max=10027.5ms + physics_step: mean=22.7ms, total=6.28s, count=277, min=15.0ms, max=34.9ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4399.1ms, max=4399.1ms + task_specific_sample: mean=349.7ms, total=3.15s, count=9, min=207.5ms, max=734.7ms + task_sampling: mean=512.3ms, total=2.05s, count=4, min=413.1ms, max=737.0ms + task_sampling_failed: mean=225.8ms, total=1.13s, count=5, min=210.7ms, max=273.2ms + scene_randomize: mean=1.1ms, total=9.9ms, count=9, min=0.9ms, max=1.6ms + mj_forward_sync: mean=434.8us, total=3.9ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144944m [env.py: 870] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17731195 -1.08686301 -0.1449445 ] yaw=-43.8deg [env.py: 1019] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=346.3ms, total=346.3ms [env.py: 1075] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.087, -0.145) [env.py: 1079] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.8 deg [env.py: 1082] +05/12 06:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:48:16 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 06:48:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 06:48:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:48:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:48:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:48:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.446s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:48:19 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:48:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123178m [env.py: 870] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=204.2ms, total=204.2ms [env.py: 1105] +05/12 06:48:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:48:21 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:48:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180107m [env.py: 870] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57796396 -0.84098511 -0.18010689] yaw=-61.6deg [env.py: 1019] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4201025 -0.82817358 -0.18010689] yaw=-60.6deg [env.py: 1019] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34295598 -1.12346874 -0.18010689] yaw=-40.8deg [env.py: 1019] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.3ms [env.py: 1075] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.841, -0.180) [env.py: 1079] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.6 deg [env.py: 1082] +05/12 06:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:48:22 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 06:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:48:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:48:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:48:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.468s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:48:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.711[m] 98.237[deg] [grasp_sample.py: 539] +05/12 06:48:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:48:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:48:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:48:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:48:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.999s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:48:25 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.152[m] 14.450[deg] [grasp_sample.py: 539] +05/12 06:48:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:48:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:48:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:48:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:48:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:48:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:48:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:48:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.464s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:48:39 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.165[m] 12.535[deg] [grasp_sample.py: 539] +05/12 06:48:40 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:48:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162341m [env.py: 870] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=282.2ms, total=282.3ms [env.py: 1105] +05/12 06:48:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:48:42 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:48:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182638m [env.py: 870] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.9ms, total=203.0ms [env.py: 1105] +05/12 06:48:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:48:44 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:48:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120857m [env.py: 870] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41913223 -0.79939822 -0.1208572 ] yaw=-59.0deg [env.py: 1019] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52130383 -0.76190142 -0.1208572 ] yaw=-56.9deg [env.py: 1019] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47349861 -0.94405822 -0.1208572 ] yaw=-58.9deg [env.py: 1019] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:48:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.3ms, total=175.4ms [env.py: 1075] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -0.799, -0.121) [env.py: 1079] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 06:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:48:45 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 06:48:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 06:48:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:48:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:48:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:48:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.322s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:48:47 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:48:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110967m [env.py: 870] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.8ms, total=211.9ms [env.py: 1105] +05/12 06:48:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:48:48 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131828m [env.py: 870] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=199.7ms, total=199.8ms [env.py: 1105] +05/12 06:48:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:48:50 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:48:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135304m [env.py: 870] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=366.2ms, total=366.2ms [env.py: 1105] +05/12 06:48:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:48:51 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:48:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:48:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:48:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:48:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:48:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:48:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180101m [env.py: 870] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:48:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32245231 -1.04747989 -0.18010055] yaw=-52.9deg [env.py: 1019] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6640563 -0.90036339 -0.18010055] yaw=-70.0deg [env.py: 1019] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:48:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.047, -0.180) [env.py: 1079] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 06:48:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:48:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:48:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:48:53 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 06:48:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:48:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:48:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:48:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:48:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.728s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:48:57 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.706[m] 94.265[deg] [grasp_sample.py: 539] +05/12 06:48:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:48:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:48:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:48:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:49:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:49:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:49:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:49:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:49:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:49:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:49:25 INFO: [Worker 0] Feasible grasp found 528 (originally 528): w/ 0.154[m] 6.491[deg] [grasp_sample.py: 539] +05/12 06:49:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:49:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:49:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:49:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:49:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:49:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:49:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.582s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:49:29 INFO: [Worker 0] Feasible grasp found 194 (originally 194): w/ 0.322[m] 15.741[deg] [grasp_sample.py: 539] +05/12 06:49:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:49:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:49:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:31 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:49:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:49:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:49:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:49:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:49:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.687s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:49:50 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.260[m] 15.520[deg] [grasp_sample.py: 539] +05/12 06:49:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:49:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:49:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:53 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:49:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:49:53 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 06:49:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 06:49:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:49:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:49:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:49:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 237 non-colliding grasps [grasp_sample.py: 465] +05/12 06:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:49:57 INFO: [Worker 0] Feasibility-checked 237 grasps in 0.358s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:49:57 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.048[m] 1.604[deg] [grasp_sample.py: 539] +05/12 06:49:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:49:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:49:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:49:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:49:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:50:00 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 06:50:00 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 06:50:00 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=False episode_total=1.02s: + episode_total: mean=33.92s, total=101.76s, count=3, min=212.8ms, max=98316.0ms + sensor_polling: mean=344.1ms, total=68.48s, count=199, min=297.9ms, max=572.5ms + physics_step: mean=21.7ms, total=4.31s, count=199, min=19.5ms, max=65.7ms + task_specific_sample: mean=406.5ms, total=1.22s, count=3, min=209.0ms, max=596.4ms + task_sampling: mean=508.1ms, total=1.02s, count=2, min=416.2ms, max=600.0ms + task_sampling_failed: mean=212.7ms, total=212.7ms, count=1, min=212.7ms, max=212.7ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.9ms, max=2.4ms + mj_forward_sync: mean=408.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:50:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:50:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:50:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:50:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:50:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:50:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:50:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:50:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175699m [env.py: 870] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:50:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44101319 -0.91626273 -0.1756992 ] yaw=-65.3deg [env.py: 1019] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:50:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.0ms, total=207.0ms [env.py: 1075] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -0.916, -0.176) [env.py: 1079] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/12 06:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 06:50:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:50:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:50:02 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 06:50:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:50:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:50:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:50:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:50:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:50:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.735[m] 88.348[deg] [grasp_sample.py: 539] +05/12 06:50:06 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:50:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:50:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:50:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.67s (batch: 3.40s, save: 9.27s) [pipeline.py: 300] +05/12 06:50:06 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s: + episode_total: mean=148.32s, total=148.32s, count=1, min=148324.3ms, max=148324.3ms + sensor_polling: mean=360.6ms, total=99.89s, count=277, min=320.7ms, max=603.3ms + save_trajectories: mean=9.27s, total=9.27s, count=1, min=9272.0ms, max=9272.0ms + physics_step: mean=22.6ms, total=6.25s, count=277, min=15.3ms, max=35.1ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3395.1ms, max=3395.1ms + task_sampling: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms + task_specific_sample: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=378.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:50:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:50:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:50:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:50:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130697m [env.py: 870] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56531671 -0.86040426 -0.13069669] yaw=-57.5deg [env.py: 1019] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.65327042 -0.87535513 -0.13069669] yaw=-80.8deg [env.py: 1019] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:50:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms [env.py: 1075] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.860, -0.131) [env.py: 1079] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/12 06:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:50:07 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 06:50:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 06:50:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:50:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:50:07 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:50:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:50:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:50:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:50:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:50:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:50:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:50:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126090m [env.py: 870] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:50:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.0ms, total=220.1ms [env.py: 1105] +05/12 06:50:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:50:08 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:50:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:50:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:50:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:50:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:50:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:50:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167839m [env.py: 870] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:50:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=281.1ms, total=281.2ms [env.py: 1105] +05/12 06:50:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:50:09 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:50:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:50:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:50:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:50:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:50:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:50:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142158m [env.py: 870] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:50:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50933203 -0.96716054 -0.14215769] yaw=-50.2deg [env.py: 1019] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:50:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.3ms [env.py: 1075] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -0.967, -0.142) [env.py: 1079] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/12 06:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:50:11 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 06:50:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:50:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:50:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:50:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:50:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.129s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:50:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.724[m] 88.097[deg] [grasp_sample.py: 539] +05/12 06:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:50:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:50:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:50:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.569s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:50:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.713[m] 84.297[deg] [grasp_sample.py: 539] +05/12 06:50:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:50:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:50:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:50:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:50:29 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:50:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:50:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 06:50:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:50:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:50:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.24s (batch: 3.64s, save: 9.60s) [pipeline.py: 300] +05/12 06:50:43 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s: + episode_total: mean=158.92s, total=158.92s, count=1, min=158915.4ms, max=158915.4ms + sensor_polling: mean=354.9ms, total=106.46s, count=300, min=310.3ms, max=608.6ms + save_trajectories: mean=9.60s, total=9.60s, count=1, min=9600.7ms, max=9600.7ms + physics_step: mean=22.8ms, total=6.84s, count=300, min=14.7ms, max=31.3ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3637.1ms, max=3637.1ms + task_sampling: mean=632.2ms, total=632.2ms, count=1, min=632.2ms, max=632.2ms + task_specific_sample: mean=628.6ms, total=628.6ms, count=1, min=628.6ms, max=628.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=432.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:50:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:50:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:50:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:50:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:50:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:50:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146317m [env.py: 870] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:50:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43345919 -0.85018815 -0.14631681] yaw=-54.0deg [env.py: 1019] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29151318 -1.05036857 -0.14631681] yaw=-43.2deg [env.py: 1019] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19843505 -1.11522346 -0.14631681] yaw=-48.7deg [env.py: 1019] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:50:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.5ms, total=154.5ms [env.py: 1075] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -0.850, -0.146) [env.py: 1079] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 06:50:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:50:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:50:44 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 06:50:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 06:50:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:50:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:50:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:50:47 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:51:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.000s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:05 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197709m [env.py: 870] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.3ms, total=207.3ms [env.py: 1105] +05/12 06:51:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:51:06 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147479m [env.py: 870] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48570918 -0.84261137 -0.14747857] yaw=-68.3deg [env.py: 1019] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.8ms, total=221.9ms [env.py: 1075] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.843, -0.147) [env.py: 1079] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 06:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 06:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:08 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:51:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:51:09 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 06:51:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.534s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:10 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.768[m] 92.061[deg] [grasp_sample.py: 539] +05/12 06:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:11 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:51:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112234m [env.py: 870] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45040687 -0.78989772 -0.11223358] yaw=-55.8deg [env.py: 1019] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:51:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21504626 -1.12876203 -0.11223358] yaw=-37.1deg [env.py: 1019] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms [env.py: 1075] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -0.790, -0.112) [env.py: 1079] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/12 06:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:12 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.532s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:13 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.147[m] 12.751[deg] [grasp_sample.py: 539] +05/12 06:51:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:51:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:51:14 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:51:14 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:51:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185568m [env.py: 870] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147019m [env.py: 870] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22376428 -0.9446558 -0.18556759] yaw=-55.1deg [env.py: 1019] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.1ms, total=275.1ms [env.py: 1075] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -0.945, -0.186) [env.py: 1079] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1908816 -1.08430945 -0.14701919] yaw=-47.5deg [env.py: 1019] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=307.0ms, total=307.0ms [env.py: 1075] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.084, -0.147) [env.py: 1079] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 06:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:16 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:16 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.772s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:51:17 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.288s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.762[m] 84.906[deg] [grasp_sample.py: 539] +05/12 06:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127908m [env.py: 870] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.4ms, total=207.5ms [env.py: 1105] +05/12 06:51:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:51:19 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:51:19 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138479m [env.py: 870] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.6ms, total=208.7ms [env.py: 1105] +05/12 06:51:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:51:20 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171874m [env.py: 870] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15330742 -1.03430744 -0.17187404] yaw=-40.1deg [env.py: 1019] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33255301 -0.87345511 -0.17187404] yaw=-51.0deg [env.py: 1019] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=279.8ms, total=279.9ms [env.py: 1075] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.153, -1.034, -0.172) [env.py: 1079] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/12 06:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 06:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:21 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191889m [env.py: 870] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30818622 -1.13378888 -0.19188882] yaw=-33.7deg [env.py: 1019] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.2ms [env.py: 1075] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.134, -0.192) [env.py: 1079] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.7 deg [env.py: 1082] +05/12 06:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:22 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.632s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:51:23 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:51:23 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 06:51:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:51:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:51:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.60s (batch: 3.64s, save: 9.96s) [pipeline.py: 300] +05/12 06:51:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.736s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.647[m] 74.926[deg] [grasp_sample.py: 539] +05/12 06:51:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:23 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=2.85s: + episode_total: mean=23.88s, total=262.64s, count=11, min=208.1ms, max=150784.1ms + sensor_polling: mean=352.2ms, total=157.07s, count=446, min=294.3ms, max=673.8ms + physics_step: mean=22.8ms, total=10.18s, count=446, min=14.9ms, max=36.7ms + save_trajectories: mean=9.96s, total=9.96s, count=1, min=9959.6ms, max=9959.6ms + task_specific_sample: mean=374.8ms, total=4.12s, count=11, min=205.0ms, max=533.6ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3642.3ms, max=3642.3ms + task_sampling: mean=475.1ms, total=2.85s, count=6, min=407.9ms, max=535.7ms + task_sampling_failed: mean=260.7ms, total=1.30s, count=5, min=208.1ms, max=374.0ms + scene_randomize: mean=1.2ms, total=12.9ms, count=11, min=0.9ms, max=2.6ms + mj_forward_sync: mean=387.2us, total=4.3ms, count=11, min=0.4ms, max=0.4ms + policy_setup: mean=20.0us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:51:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:51:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:51:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173912m [env.py: 870] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.5ms, total=189.6ms [env.py: 1105] +05/12 06:51:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:51:24 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:51:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126925m [env.py: 870] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52223236 -0.90185566 -0.12692492] yaw=-68.3deg [env.py: 1019] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4989871 -1.00933991 -0.12692492] yaw=-59.2deg [env.py: 1019] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=316.0ms, total=316.0ms [env.py: 1075] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -0.902, -0.127) [env.py: 1079] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:25 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118076m [env.py: 870] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.2ms, total=212.3ms [env.py: 1105] +05/12 06:51:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:51:26 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:51:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:51:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186047m [env.py: 870] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 485 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11263209 -1.04104356 -0.18604711] yaw=-44.6deg [env.py: 1019] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56945495 -0.86116041 -0.18604711] yaw=-57.9deg [env.py: 1019] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5046368 -0.82443907 -0.18604711] yaw=-68.5deg [env.py: 1019] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.6ms [env.py: 1075] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -1.041, -0.186) [env.py: 1079] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 06:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:27 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.555s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:51:29 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:51:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125568m [env.py: 870] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28931126 -1.20335972 -0.12556812] yaw=-35.1deg [env.py: 1019] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50205381 -0.94075665 -0.12556812] yaw=-56.5deg [env.py: 1019] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.2ms, total=223.2ms [env.py: 1075] +05/12 06:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.203, -0.126) [env.py: 1079] +05/12 06:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg [env.py: 1082] +05/12 06:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 06:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:31 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.389s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.659[m] 82.585[deg] [grasp_sample.py: 539] +05/12 06:51:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:51:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:51:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:51:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.316s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:37 INFO: [Worker 0] Feasible grasp found 384 (originally 384): w/ 0.057[m] 5.810[deg] [grasp_sample.py: 539] +05/12 06:51:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:51:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:51:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:51:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:51:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:51:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.514s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:42 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.738[m] 93.429[deg] [grasp_sample.py: 539] +05/12 06:51:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:51:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:51:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:51:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.834s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:44 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.136[m] 10.983[deg] [grasp_sample.py: 539] +05/12 06:51:45 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:51:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179591m [env.py: 870] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63650466 -0.8348775 -0.17959147] yaw=-71.1deg [env.py: 1019] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.8ms, total=222.8ms [env.py: 1075] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.637, -0.835, -0.180) [env.py: 1079] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/12 06:51:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:47 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:53 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.752[m] 99.276[deg] [grasp_sample.py: 539] +05/12 06:51:54 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:51:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:51:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:51:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:51:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:51:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:51:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186637m [env.py: 870] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:51:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51957333 -0.98691885 -0.18663747] yaw=-67.8deg [env.py: 1019] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:51:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=405.1ms, total=405.2ms [env.py: 1075] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.987, -0.187) [env.py: 1079] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.8 deg [env.py: 1082] +05/12 06:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:51:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:51:56 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 06:51:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 06:51:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:51:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:51:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:51:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.391s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:51:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.648[m] 92.732[deg] [grasp_sample.py: 539] +05/12 06:51:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:51:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:51:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:52:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:52:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:52:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:52:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:52:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:52:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:52:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:52:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.962s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:52:31 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.489[m] 65.710[deg] [grasp_sample.py: 539] +05/12 06:52:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:52:32 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:52:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:52:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:52:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:52:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120642m [env.py: 870] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37648097 -0.99231009 -0.12064238] yaw=-45.9deg [env.py: 1019] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3087856 -1.13495478 -0.12064238] yaw=-52.4deg [env.py: 1019] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:52:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.1ms, total=231.2ms [env.py: 1075] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -0.992, -0.121) [env.py: 1079] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 06:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:52:34 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 06:52:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 06:52:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:52:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:52:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:52:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.181s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:52:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.721[m] 89.025[deg] [grasp_sample.py: 539] +05/12 06:52:37 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:52:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:52:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:52:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:52:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:52:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:52:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195075m [env.py: 870] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:52:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=229.7ms, total=229.8ms [env.py: 1105] +05/12 06:52:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:52:38 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:52:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:52:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:52:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:52:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114192m [env.py: 870] +05/12 06:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=248.7ms, total=248.8ms [env.py: 1105] +05/12 06:52:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:52:40 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:52:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:52:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:52:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123683m [env.py: 870] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46474699 -0.80774903 -0.12368311] yaw=-65.5deg [env.py: 1019] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=261.9ms, total=262.0ms [env.py: 1075] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.808, -0.124) [env.py: 1079] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg [env.py: 1082] +05/12 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:52:42 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 06:52:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:52:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:52:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:52:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:52:43 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:52:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:52:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:52:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:52:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:52:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105191m [env.py: 870] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:52:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.9ms, total=200.9ms [env.py: 1105] +05/12 06:52:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:52:44 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:52:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:52:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:52:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:52:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:52:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146589m [env.py: 870] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:52:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4835415 -0.85266824 -0.14658879] yaw=-52.8deg [env.py: 1019] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30732632 -0.89234103 -0.14658879] yaw=-45.0deg [env.py: 1019] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:52:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=267.9ms, total=267.9ms [env.py: 1075] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.853, -0.147) [env.py: 1079] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/12 06:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:52:46 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 06:52:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:52:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:52:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:52:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:52:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:52:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:52:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:52:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:52:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:52:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.562s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:52:51 INFO: [Worker 0] Feasible grasp found 499 (originally 499): w/ 0.123[m] 4.475[deg] [grasp_sample.py: 539] +05/12 06:52:52 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:52:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:52:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:52:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:52:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:52:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:52:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181978m [env.py: 870] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:52:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36610259 -0.98763293 -0.18197836] yaw=-50.7deg [env.py: 1019] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42762446 -1.09809548 -0.18197836] yaw=-58.5deg [env.py: 1019] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=306.3ms, total=306.4ms [env.py: 1075] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.988, -0.182) [env.py: 1079] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 06:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:52:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:52:53 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 06:52:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 06:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:52:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:52:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:52:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.236s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:52:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.711[m] 79.472[deg] [grasp_sample.py: 539] +05/12 06:52:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:52:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:52:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:52:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:52:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.203s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:52:58 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.767[m] 78.996[deg] [grasp_sample.py: 539] +05/12 06:52:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:52:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:52:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:52:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:53:13 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:53:13 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:53:34 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:53:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:53:34 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 06:53:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:53:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:53:37 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 06:53:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:53:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:53:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.99s (batch: 3.51s, save: 8.48s) [pipeline.py: 300] +05/12 06:53:47 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=2.70s: + episode_total: mean=27.06s, total=216.47s, count=8, min=197.4ms, max=136397.3ms + sensor_polling: mean=339.5ms, total=139.55s, count=411, min=295.2ms, max=579.6ms + physics_step: mean=21.8ms, total=8.95s, count=411, min=14.9ms, max=52.2ms + save_trajectories: mean=8.48s, total=8.48s, count=1, min=8475.6ms, max=8475.6ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3514.9ms, max=3514.9ms + task_specific_sample: mean=386.9ms, total=3.10s, count=8, min=194.4ms, max=521.3ms + task_sampling: mean=450.2ms, total=2.70s, count=6, min=400.1ms, max=523.3ms + task_sampling_failed: mean=208.6ms, total=417.1ms, count=2, min=197.3ms, max=219.8ms + scene_randomize: mean=1.1ms, total=9.1ms, count=8, min=0.9ms, max=2.0ms + mj_forward_sync: mean=425.1us, total=3.4ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=12.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:53:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:53:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:53:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:53:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:53:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:53:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116530m [env.py: 870] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:53:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17820312 -1.03545903 -0.11652976] yaw=-37.1deg [env.py: 1019] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59658188 -1.00040746 -0.11652976] yaw=-69.8deg [env.py: 1019] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:53:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.5ms [env.py: 1075] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.035, -0.117) [env.py: 1079] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.1 deg [env.py: 1082] +05/12 06:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:53:48 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 06:53:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:53:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:53:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:53:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:53:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:53:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.84s (batch: 3.34s, save: 8.51s) [pipeline.py: 300] +05/12 06:53:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:53:49 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=2.23s: + episode_total: mean=22.02s, total=176.18s, count=8, min=215.6ms, max=147352.7ms + sensor_polling: mean=381.1ms, total=100.98s, count=265, min=302.7ms, max=682.4ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8506.1ms, max=8506.1ms + physics_step: mean=24.3ms, total=6.45s, count=265, min=19.5ms, max=40.4ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3336.2ms, max=3336.2ms + task_specific_sample: mean=356.7ms, total=2.85s, count=8, min=212.2ms, max=523.0ms + task_sampling: mean=445.5ms, total=2.23s, count=5, min=408.0ms, max=525.2ms + task_sampling_failed: mean=217.1ms, total=651.4ms, count=3, min=215.6ms, max=218.9ms + scene_randomize: mean=1.2ms, total=9.7ms, count=8, min=0.9ms, max=1.9ms + mj_forward_sync: mean=415.5us, total=3.3ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:53:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.306s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:53:50 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:53:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:53:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:53:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:53:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:53:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:53:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:53:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138711m [env.py: 870] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:53:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.5ms, total=184.6ms [env.py: 1105] +05/12 06:53:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:53:51 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:53:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:53:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:53:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:53:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:53:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:53:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115581m [env.py: 870] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:53:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35074466 -1.06476217 -0.1155812 ] yaw=-45.9deg [env.py: 1019] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:53:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.6ms [env.py: 1075] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -1.065, -0.116) [env.py: 1079] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 06:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:53:52 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 06:53:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:53:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:53:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:53:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:53:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:53:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:53:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:53:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:53:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:53:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174378m [env.py: 870] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:53:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=452.4ms, total=452.5ms [env.py: 1105] +05/12 06:53:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:53:53 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:53:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:53:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.704[m] 96.589[deg] [grasp_sample.py: 539] +05/12 06:53:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:53:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:53:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:53:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:53:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:53:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:53:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:53:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:53:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197414m [env.py: 870] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:53:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32413961 -1.06783778 -0.19741412] yaw=-45.5deg [env.py: 1019] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:53:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=212.0ms, total=212.0ms [env.py: 1075] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.068, -0.197) [env.py: 1079] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 06:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:53:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:53:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:53:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:53:54 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 06:53:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 06:53:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:53:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:53:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:53:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.363s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:53:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.664[m] 80.995[deg] [grasp_sample.py: 539] +05/12 06:53:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:53:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:53:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:53:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:53:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:54:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:54:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:54:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:54:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:54:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:54:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 313 non-colliding grasps [grasp_sample.py: 465] +05/12 06:54:40 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:54:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:54:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:54:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:54:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:54:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:54:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:55:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:55:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:55:00 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 06:55:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 36.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:55:04 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117083m [env.py: 870] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28184908 -0.89395818 -0.11708264] yaw=-49.8deg [env.py: 1019] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=290.6ms, total=290.7ms [env.py: 1075] +05/12 06:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -0.894, -0.117) [env.py: 1079] +05/12 06:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 06:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 06:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:55:06 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 06:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 06:55:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.502s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:55:08 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:55:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139624m [env.py: 870] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4087257 -1.10483869 -0.13962368] yaw=-42.8deg [env.py: 1019] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:55:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=198.9ms [env.py: 1075] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -1.105, -0.140) [env.py: 1079] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/12 06:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:55:09 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 06:55:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 06:55:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:55:12 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.647[m] 89.263[deg] [grasp_sample.py: 539] +05/12 06:55:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:55:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:55:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.26s (batch: 3.14s, save: 9.12s) [pipeline.py: 300] +05/12 06:55:13 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=1.17s: + episode_total: mean=113.44s, total=226.87s, count=2, min=86896.9ms, max=139974.4ms + sensor_polling: mean=344.8ms, total=145.50s, count=422, min=302.0ms, max=730.9ms + physics_step: mean=22.2ms, total=9.38s, count=422, min=14.9ms, max=43.6ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9118.4ms, max=9118.4ms + save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3139.6ms, max=3139.6ms + task_sampling: mean=583.3ms, total=1.17s, count=2, min=539.2ms, max=627.4ms + task_specific_sample: mean=580.2ms, total=1.16s, count=2, min=536.3ms, max=624.1ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.0ms, max=2.0ms + mj_forward_sync: mean=408.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:55:13 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:55:13 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 06:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114301m [env.py: 870] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=183.6ms, total=183.7ms [env.py: 1105] +05/12 06:55:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:55:14 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107099m [env.py: 870] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.2ms, total=197.3ms [env.py: 1105] +05/12 06:55:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:55:15 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:55:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115702m [env.py: 870] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127970m [env.py: 870] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.0ms, total=215.0ms [env.py: 1105] +05/12 06:55:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:55:16 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60404947 -0.76867345 -0.12797028] yaw=-68.2deg [env.py: 1019] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:55:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=352.9ms, total=353.0ms [env.py: 1075] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.604, -0.769, -0.128) [env.py: 1079] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg [env.py: 1082] +05/12 06:55:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:55:16 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 06:55:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 06:55:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195360m [env.py: 870] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42814019 -0.76947142 -0.19536002] yaw=-64.8deg [env.py: 1019] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39062072 -1.15051321 -0.19536002] yaw=-40.3deg [env.py: 1019] +05/12 06:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:55:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=210.3ms, total=210.4ms [env.py: 1075] +05/12 06:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -0.769, -0.195) [env.py: 1079] +05/12 06:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 06:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 06:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:55:18 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 06:55:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 06:55:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.647s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:55:18 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:55:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.338s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:55:19 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:55:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108069m [env.py: 870] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3553239 -1.03379489 -0.10806895] yaw=-42.0deg [env.py: 1019] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35575354 -0.91683068 -0.10806895] yaw=-54.7deg [env.py: 1019] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:55:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=367.5ms, total=367.6ms [env.py: 1075] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.355, -1.034, -0.108) [env.py: 1079] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/12 06:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:55:20 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 06:55:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 06:55:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186322m [env.py: 870] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2669406 -1.10345312 -0.18632208] yaw=-41.9deg [env.py: 1019] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64559993 -0.91708171 -0.18632208] yaw=-78.5deg [env.py: 1019] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:55:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=212.0ms, total=212.1ms [env.py: 1075] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -1.103, -0.186) [env.py: 1079] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/12 06:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:55:21 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 06:55:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:55:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.711s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:55:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.736[m] 91.685[deg] [grasp_sample.py: 539] +05/12 06:55:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:55:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:55:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:55:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:55:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.349s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:55:27 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.700[m] 79.802[deg] [grasp_sample.py: 539] +05/12 06:55:28 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:55:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:55:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:55:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:55:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:55:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:55:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134088m [env.py: 870] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:55:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64830147 -0.87952478 -0.13408783] yaw=-75.0deg [env.py: 1019] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:55:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.0ms, total=207.1ms [env.py: 1075] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.648, -0.880, -0.134) [env.py: 1079] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg [env.py: 1082] +05/12 06:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:55:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:55:30 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 06:55:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 06:55:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.663s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:55:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.695[m] 90.316[deg] [grasp_sample.py: 539] +05/12 06:55:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:55:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:55:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:55:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:55:37 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:55:40 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:55:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:55:57 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 06:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:55:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:55:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:55:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:55:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:55:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:55:59 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:55:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:55:59 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 06:56:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.637s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:03 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.546[m] 67.429[deg] [grasp_sample.py: 539] +05/12 06:56:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:56:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:56:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:56:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:56:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.99s (batch: 3.58s, save: 8.41s) [pipeline.py: 300] +05/12 06:56:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:10 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.46s: + episode_total: mean=45.47s, total=136.42s, count=3, min=194.2ms, max=135768.6ms + sensor_polling: mean=349.3ms, total=92.93s, count=266, min=307.0ms, max=647.9ms + save_trajectories: mean=8.41s, total=8.41s, count=1, min=8413.0ms, max=8413.0ms + physics_step: mean=22.4ms, total=5.96s, count=266, min=15.0ms, max=45.6ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3575.7ms, max=3575.7ms + task_specific_sample: mean=369.8ms, total=1.11s, count=3, min=190.2ms, max=462.1ms + task_sampling_failed: mean=327.4ms, total=654.8ms, count=2, min=194.2ms, max=460.6ms + task_sampling: mean=464.0ms, total=464.0ms, count=1, min=464.0ms, max=464.0ms + scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=0.9ms, max=1.8ms + mj_forward_sync: mean=398.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176524m [env.py: 870] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:56:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:56:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.69s (batch: 3.02s, save: 8.67s) [pipeline.py: 300] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=407.8ms, total=407.9ms [env.py: 1105] +05/12 06:56:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:56:11 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:56:12 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.83s: + episode_total: mean=71.26s, total=142.51s, count=2, min=1905.8ms, max=140608.2ms + sensor_polling: mean=348.4ms, total=96.84s, count=278, min=303.9ms, max=626.9ms + save_trajectories: mean=8.67s, total=8.67s, count=1, min=8670.7ms, max=8670.7ms + physics_step: mean=22.6ms, total=6.28s, count=278, min=19.4ms, max=51.6ms + save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3017.3ms, max=3017.3ms + task_sampling: mean=412.7ms, total=825.4ms, count=2, min=410.0ms, max=415.4ms + task_specific_sample: mean=409.5ms, total=818.9ms, count=2, min=407.4ms, max=411.5ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=428.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140567m [env.py: 870] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29758003 -1.03157538 -0.14056717] yaw=-49.9deg [env.py: 1019] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.6ms [env.py: 1075] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.032, -0.141) [env.py: 1079] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:56:13 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 06:56:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 06:56:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:56:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172175m [env.py: 870] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.9ms, total=232.9ms [env.py: 1105] +05/12 06:56:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:56:13 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.717[m] 85.919[deg] [grasp_sample.py: 539] +05/12 06:56:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124640m [env.py: 870] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4022806 -1.05225935 -0.12464035] yaw=-54.0deg [env.py: 1019] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:56:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.2ms [env.py: 1075] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -1.052, -0.125) [env.py: 1079] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 06:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:56:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:56:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:56:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:56:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:56:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:56:15 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 06:56:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 06:56:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:56:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:56:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:56:16 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:56:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.690s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.738[m] 75.308[deg] [grasp_sample.py: 539] +05/12 06:56:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:56:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:56:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:56:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186048m [env.py: 870] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28067086 -0.99482849 -0.18604759] yaw=-40.0deg [env.py: 1019] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49726534 -0.9814033 -0.18604759] yaw=-66.2deg [env.py: 1019] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50549184 -1.04813177 -0.18604759] yaw=-50.7deg [env.py: 1019] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:56:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.0ms, total=223.0ms [env.py: 1075] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.995, -0.186) [env.py: 1079] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.0 deg [env.py: 1082] +05/12 06:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:56:18 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 06:56:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:56:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:56:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:56:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:56:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.926s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:18 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.538[m] 65.660[deg] [grasp_sample.py: 539] +05/12 06:56:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:56:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:56:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.086s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:22 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.706[m] 83.753[deg] [grasp_sample.py: 539] +05/12 06:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:23 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:56:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182085m [env.py: 870] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=735.5ms, total=735.5ms [env.py: 1105] +05/12 06:56:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:56:25 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140927m [env.py: 870] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45389287 -0.96950075 -0.1409268 ] yaw=-55.0deg [env.py: 1019] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32168454 -0.89893933 -0.1409268 ] yaw=-47.3deg [env.py: 1019] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:56:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=499.7ms, total=499.7ms [env.py: 1075] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.454, -0.970, -0.141) [env.py: 1079] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 06:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:56:27 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 06:56:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 06:56:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:56:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:56:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:56:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:56:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 06:56:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:56:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:56:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:56:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.580s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.520[m] 63.010[deg] [grasp_sample.py: 539] +05/12 06:56:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:56:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:56:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.000s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:33 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.724[m] 90.176[deg] [grasp_sample.py: 539] +05/12 06:56:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:56:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:56:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 06:56:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 06:56:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 06:56:44 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 06:56:44 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=False episode_total=5.57s: + episode_total: mean=22.08s, total=375.35s, count=17, min=205.6ms, max=138087.8ms + sensor_polling: mean=371.5ms, total=170.88s, count=460, min=296.7ms, max=618.2ms + physics_step: mean=21.4ms, total=9.82s, count=460, min=13.1ms, max=47.8ms + task_specific_sample: mean=408.9ms, total=6.95s, count=17, min=202.3ms, max=623.8ms + task_sampling: mean=506.1ms, total=5.57s, count=11, min=417.2ms, max=627.3ms + task_sampling_failed: mean=238.9ms, total=1.43s, count=6, min=205.5ms, max=292.8ms + scene_randomize: mean=1.3ms, total=21.7ms, count=17, min=0.9ms, max=2.3ms + mj_forward_sync: mean=437.3us, total=7.4ms, count=17, min=0.4ms, max=0.6ms + policy_setup: mean=12.0us, total=0.1ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:56:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:56:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:56:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:56:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:56:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:56:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157746m [env.py: 870] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:56:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30501559 -1.15337179 -0.15774574] yaw=-43.8deg [env.py: 1019] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:56:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=396.3ms, total=396.3ms [env.py: 1075] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -1.153, -0.158) [env.py: 1079] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.8 deg [env.py: 1082] +05/12 06:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:56:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:56:46 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 06:56:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 06:56:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:56:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:56:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:56:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.548s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:56:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.635[m] 82.486[deg] [grasp_sample.py: 539] +05/12 06:56:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:56:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:56:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:56:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:57:07 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:57:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:57:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 06:57:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:57:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 06:57:28 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:57:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 06:57:28 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 06:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 06:57:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:57:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:57:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:57:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:57:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.62s (batch: 3.96s, save: 10.66s) [pipeline.py: 300] +05/12 06:57:43 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.89s: + episode_total: mean=36.17s, total=144.68s, count=4, min=193.8ms, max=142254.6ms + sensor_polling: mean=336.8ms, total=95.64s, count=284, min=300.1ms, max=667.4ms + save_trajectories: mean=10.66s, total=10.66s, count=1, min=10664.9ms, max=10664.9ms + physics_step: mean=22.6ms, total=6.41s, count=284, min=15.2ms, max=64.0ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3955.9ms, max=3955.9ms + task_specific_sample: mean=324.6ms, total=1.30s, count=4, min=189.4ms, max=464.2ms + task_sampling: mean=446.8ms, total=893.5ms, count=2, min=427.3ms, max=466.2ms + task_sampling_failed: mean=208.4ms, total=416.7ms, count=2, min=193.8ms, max=222.9ms + scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=0.9ms, max=2.3ms + mj_forward_sync: mean=400.7us, total=1.6ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:57:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:57:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:57:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:57:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:57:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:57:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:57:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:57:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:57:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:57:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:57:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108079m [env.py: 870] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:57:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19314464 -1.16506989 -0.10807921] yaw=-43.2deg [env.py: 1019] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:57:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23520679 -1.12356048 -0.10807921] yaw=-46.5deg [env.py: 1019] +05/12 06:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:57:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=231.7ms, total=231.8ms [env.py: 1075] +05/12 06:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -1.165, -0.108) [env.py: 1079] +05/12 06:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.2 deg [env.py: 1082] +05/12 06:57:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 06:57:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:57:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:57:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:57:45 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 06:57:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 06:57:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:57:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:57:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:57:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:57:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:57:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:57:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.066s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:57:57 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.726[m] 82.856[deg] [grasp_sample.py: 539] +05/12 06:57:58 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 06:58:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:58:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:58:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:58:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:58:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:58:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185947m [env.py: 870] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:58:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=229.0ms, total=229.1ms [env.py: 1105] +05/12 06:58:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:58:00 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:58:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:58:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:58:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:58:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:58:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:58:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140397m [env.py: 870] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:58:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60894243 -0.76950409 -0.14039663] yaw=-61.9deg [env.py: 1019] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31394116 -1.19216442 -0.14039663] yaw=-43.6deg [env.py: 1019] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:58:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.5ms [env.py: 1075] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.770, -0.140) [env.py: 1079] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg [env.py: 1082] +05/12 06:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:58:01 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 06:58:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 06:58:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:58:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:58:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:58:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.727s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:58:06 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 06:58:06 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: unsupported operand type(s) for %: 'NoneType' and 'int' [task_sampler.py: 396] +05/12 06:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:58:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:58:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:58:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182326m [env.py: 870] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1682706 -1.02638476 -0.18232611] yaw=-36.3deg [env.py: 1019] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1075] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.026, -0.182) [env.py: 1079] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg [env.py: 1082] +05/12 06:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:58:08 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 06:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 06:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:58:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:58:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:58:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.559s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:58:10 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:58:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:58:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:58:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:58:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:58:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:58:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150319m [env.py: 870] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:58:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34571626 -1.02570407 -0.1503192 ] yaw=-42.4deg [env.py: 1019] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33289751 -1.0669772 -0.1503192 ] yaw=-58.4deg [env.py: 1019] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:58:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.2ms, total=262.3ms [env.py: 1075] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -1.026, -0.150) [env.py: 1079] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 06:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:58:12 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 06:58:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 06:58:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:58:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:58:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:58:13 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:58:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.520s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:58:18 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.711[m] 90.271[deg] [grasp_sample.py: 539] +05/12 06:58:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:58:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:58:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:58:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:58:30 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:58:31 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 06:58:35 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:58:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 06:58:35 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 06:58:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:58:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:58:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.37s (batch: 3.61s, save: 9.75s) [pipeline.py: 300] +05/12 06:58:50 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.46s: + episode_total: mean=77.56s, total=155.12s, count=2, min=242.6ms, max=154873.4ms + sensor_polling: mean=363.6ms, total=102.54s, count=282, min=294.8ms, max=679.3ms + save_trajectories: mean=9.75s, total=9.75s, count=1, min=9751.4ms, max=9751.4ms + physics_step: mean=24.3ms, total=6.85s, count=282, min=14.5ms, max=113.3ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3614.4ms, max=3614.4ms + task_specific_sample: mean=347.2ms, total=694.4ms, count=2, min=238.6ms, max=455.9ms + task_sampling: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms + task_sampling_failed: mean=242.6ms, total=242.6ms, count=1, min=242.6ms, max=242.6ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.0ms, max=2.3ms + mj_forward_sync: mean=409.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:58:50 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:58:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 06:58:50 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 06:58:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 06:58:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 06:58:50 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 06:58:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:58:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:58:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:58:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:58:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:58:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179089m [env.py: 870] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:58:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32445711 -0.84782675 -0.17908891] yaw=-48.6deg [env.py: 1019] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.0ms, total=256.0ms [env.py: 1075] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -0.848, -0.179) [env.py: 1079] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg [env.py: 1082] +05/12 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:58:52 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 06:58:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 06:58:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:58:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:58:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:58:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.007s, found feasible grasp: False [grasp_sample.py: 500] +05/12 06:58:54 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 06:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:58:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:58:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:58:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:58:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113752m [env.py: 870] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=268.6ms, total=268.6ms [env.py: 1105] +05/12 06:58:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:58:55 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:58:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:58:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:58:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:58:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:58:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:58:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:58:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138371m [env.py: 870] +05/12 06:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:58:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45306862 -0.99130784 -0.13837123] yaw=-53.4deg [env.py: 1019] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:58:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.3ms, total=215.3ms [env.py: 1075] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.991, -0.138) [env.py: 1079] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 06:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 06:58:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:58:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:58:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:58:57 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 06:58:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 06:58:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:58:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:58:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:59:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.179s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:59:01 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.685[m] 81.281[deg] [grasp_sample.py: 539] +05/12 06:59:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:59:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:59:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:59:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:59:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:59:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:59:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.07s (batch: 3.40s, save: 8.66s) [pipeline.py: 300] +05/12 06:59:03 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.70s: + episode_total: mean=137.20s, total=137.20s, count=1, min=137201.0ms, max=137201.0ms + sensor_polling: mean=358.3ms, total=93.87s, count=262, min=307.5ms, max=544.6ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8663.8ms, max=8663.8ms + physics_step: mean=21.8ms, total=5.71s, count=262, min=14.7ms, max=34.9ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3402.2ms, max=3402.2ms + task_sampling: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + task_specific_sample: mean=698.1ms, total=698.1ms, count=1, min=698.1ms, max=698.1ms + scene_randomize: mean=970.1us, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=371.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:59:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:59:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:59:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:59:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:59:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:59:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:59:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100510m [env.py: 870] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:59:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31099353 -1.04463457 -0.10051 ] yaw=-38.7deg [env.py: 1019] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 06:59:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 06:59:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.57s (batch: 3.89s, save: 10.68s) [pipeline.py: 300] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3423616 -1.09356991 -0.10051 ] yaw=-55.2deg [env.py: 1019] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:59:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=183.9ms [env.py: 1075] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.045, -0.101) [env.py: 1079] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg [env.py: 1082] +05/12 06:59:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:59:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:59:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:59:05 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 06:59:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 06:59:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:59:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:59:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:59:05 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=1.69s: + episode_total: mean=33.78s, total=168.92s, count=5, min=421.3ms, max=158296.4ms + sensor_polling: mean=361.2ms, total=101.85s, count=282, min=301.4ms, max=654.3ms + save_trajectories: mean=10.68s, total=10.68s, count=1, min=10678.3ms, max=10678.3ms + physics_step: mean=23.5ms, total=6.62s, count=282, min=14.6ms, max=49.3ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.9ms, max=3886.9ms + task_specific_sample: mean=567.4ms, total=2.84s, count=5, min=415.3ms, max=740.8ms + task_sampling: mean=562.5ms, total=1.69s, count=3, min=424.8ms, max=710.4ms + task_sampling_failed: mean=595.1ms, total=1.19s, count=2, min=421.3ms, max=768.8ms + scene_randomize: mean=1.4ms, total=7.0ms, count=5, min=1.0ms, max=2.5ms + mj_forward_sync: mean=447.1us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=11.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 06:59:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:59:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:59:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:59:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:59:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:59:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:59:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140121m [env.py: 870] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:59:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.0ms, total=210.1ms [env.py: 1105] +05/12 06:59:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 06:59:07 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 06:59:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 06:59:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 06:59:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:59:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 06:59:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 06:59:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 06:59:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184558m [env.py: 870] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 06:59:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35847017 -0.99605147 -0.18455824] yaw=-50.6deg [env.py: 1019] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 06:59:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.1ms, total=207.1ms [env.py: 1075] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -0.996, -0.185) [env.py: 1079] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 06:59:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 06:59:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 06:59:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 06:59:08 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 06:59:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 06:59:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 06:59:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 06:59:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 06:59:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.720s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:59:10 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.751[m] 83.709[deg] [grasp_sample.py: 539] +05/12 06:59:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:59:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:59:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:59:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:59:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.725s, found feasible grasp: True [grasp_sample.py: 500] +05/12 06:59:12 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.786[m] 73.564[deg] [grasp_sample.py: 539] +05/12 06:59:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 06:59:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 06:59:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:59:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 06:59:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:59:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:59:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 06:59:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 06:59:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 06:59:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:00:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:00:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:00:13 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:00:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:00:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:00:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:00:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:00:35 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 07:00:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:00:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:00:40 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:00:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:00:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:00:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.11s (batch: 3.40s, save: 8.71s) [pipeline.py: 300] +05/12 07:00:48 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=1.90s: + episode_total: mean=35.62s, total=178.09s, count=5, min=237.9ms, max=156505.0ms + sensor_polling: mean=360.8ms, total=101.37s, count=281, min=298.0ms, max=636.9ms + save_trajectories: mean=8.71s, total=8.71s, count=1, min=8713.3ms, max=8713.3ms + physics_step: mean=22.1ms, total=6.21s, count=281, min=14.7ms, max=32.1ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3397.7ms, max=3397.7ms + task_specific_sample: mean=423.7ms, total=2.12s, count=5, min=233.7ms, max=556.6ms + task_sampling: mean=473.9ms, total=1.90s, count=4, min=418.5ms, max=560.7ms + task_sampling_failed: mean=237.8ms, total=237.8ms, count=1, min=237.8ms, max=237.8ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.7ms + mj_forward_sync: mean=414.6us, total=2.1ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:00:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:00:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:00:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:00:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:00:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:00:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:00:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146437m [env.py: 870] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:00:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38953063 -1.07602524 -0.14643705] yaw=-46.3deg [env.py: 1019] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:00:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=260.6ms, total=260.7ms [env.py: 1075] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -1.076, -0.146) [env.py: 1079] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 07:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:00:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:00:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:00:49 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 07:00:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 07:00:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:00:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:00:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:00:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.673s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:00:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.685[m] 86.463[deg] [grasp_sample.py: 539] +05/12 07:00:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:00:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:00:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:00:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:00:55 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:01:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:01:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:01:01 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 07:01:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:01:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:01:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.58s (batch: 3.44s, save: 9.15s) [pipeline.py: 300] +05/12 07:01:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:01:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:01:14 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 07:01:14 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.99s: + episode_total: mean=47.01s, total=141.04s, count=3, min=277.0ms, max=138024.4ms + sensor_polling: mean=334.0ms, total=90.86s, count=272, min=305.0ms, max=605.8ms + save_trajectories: mean=9.15s, total=9.15s, count=1, min=9145.4ms, max=9145.4ms + physics_step: mean=21.6ms, total=5.87s, count=272, min=14.7ms, max=34.6ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3439.5ms, max=3439.5ms + task_specific_sample: mean=420.0ms, total=1.26s, count=3, min=273.5ms, max=538.0ms + task_sampling: mean=496.2ms, total=992.5ms, count=2, min=450.6ms, max=541.9ms + task_sampling_failed: mean=277.0ms, total=277.0ms, count=1, min=277.0ms, max=277.0ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=448.6us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=13.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:01:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:01:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:01:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:01:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:01:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:01:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:01:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106357m [env.py: 870] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:01:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37747915 -1.02626055 -0.10635687] yaw=-60.7deg [env.py: 1019] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58591411 -0.9947361 -0.10635687] yaw=-72.5deg [env.py: 1019] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28937101 -1.10754758 -0.10635687] yaw=-48.3deg [env.py: 1019] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:01:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.8ms [env.py: 1075] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.026, -0.106) [env.py: 1079] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/12 07:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:01:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:01:16 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 07:01:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 07:01:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:01:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:01:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:01:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:01:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.720[m] 83.282[deg] [grasp_sample.py: 539] +05/12 07:01:19 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:01:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:01:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:01:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:01:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:01:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:01:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:01:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183622m [env.py: 870] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:01:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51830613 -0.97071315 -0.18362245] yaw=-55.8deg [env.py: 1019] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:01:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.6ms, total=168.7ms [env.py: 1075] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.971, -0.184) [env.py: 1079] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/12 07:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:01:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:01:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:01:20 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 07:01:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:01:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:01:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:01:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:01:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.705s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:01:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.633[m] 81.269[deg] [grasp_sample.py: 539] +05/12 07:01:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:01:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:01:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:01:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:01:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:01:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:01:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.69s (batch: 3.37s, save: 9.33s) [pipeline.py: 300] +05/12 07:01:28 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.46s: + episode_total: mean=69.97s, total=139.94s, count=2, min=221.6ms, max=139721.9ms + sensor_polling: mean=332.2ms, total=94.67s, count=285, min=305.6ms, max=513.5ms + save_trajectories: mean=9.33s, total=9.33s, count=1, min=9326.0ms, max=9326.0ms + physics_step: mean=21.5ms, total=6.13s, count=285, min=19.4ms, max=33.5ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3365.3ms, max=3365.3ms + task_specific_sample: mean=334.3ms, total=668.7ms, count=2, min=215.8ms, max=452.9ms + task_sampling: mean=455.7ms, total=455.7ms, count=1, min=455.7ms, max=455.7ms + task_sampling_failed: mean=221.6ms, total=221.6ms, count=1, min=221.6ms, max=221.6ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.0ms, max=2.3ms + mj_forward_sync: mean=400.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:01:28 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:01:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:01:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:01:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:01:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:01:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:01:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:01:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136234m [env.py: 870] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:01:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35784966 -0.92323018 -0.13623355] yaw=-57.3deg [env.py: 1019] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:01:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms [env.py: 1075] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -0.923, -0.136) [env.py: 1079] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 07:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:01:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:01:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:01:29 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 07:01:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 07:01:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:01:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:01:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:01:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:01:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.770[m] 84.060[deg] [grasp_sample.py: 539] +05/12 07:01:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:01:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:01:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:01:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:01:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:01:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:01:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:01:49 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 07:01:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:01:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:02:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:02:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.73s (batch: 3.59s, save: 11.14s) [pipeline.py: 300] +05/12 07:02:05 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.40s: + episode_total: mean=180.41s, total=180.41s, count=1, min=180410.1ms, max=180410.1ms + sensor_polling: mean=430.4ms, total=125.68s, count=292, min=331.6ms, max=671.7ms + save_trajectories: mean=11.14s, total=11.14s, count=1, min=11141.1ms, max=11141.1ms + physics_step: mean=25.7ms, total=7.49s, count=292, min=14.7ms, max=45.9ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.2ms, max=3592.2ms + task_sampling: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + task_specific_sample: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=382.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:02:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171845m [env.py: 870] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=214.0ms, total=214.1ms [env.py: 1105] +05/12 07:02:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:02:06 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:02:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116879m [env.py: 870] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47145523 -0.88750224 -0.11687853] yaw=-51.6deg [env.py: 1019] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:02:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.1ms, total=244.2ms [env.py: 1075] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.888, -0.117) [env.py: 1079] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 07:02:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:02:08 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 07:02:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 07:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.617s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:17 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.788[m] 90.727[deg] [grasp_sample.py: 539] +05/12 07:02:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:02:18 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:02:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143243m [env.py: 870] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=236.9ms, total=236.9ms [env.py: 1105] +05/12 07:02:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:02:19 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:02:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148455m [env.py: 870] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=445.4ms, total=445.5ms [env.py: 1105] +05/12 07:02:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:02:21 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:02:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145687m [env.py: 870] +05/12 07:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41367598 -1.09842305 -0.1456875 ] yaw=-51.9deg [env.py: 1019] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:02:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.9ms, total=268.9ms [env.py: 1075] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -1.098, -0.146) [env.py: 1079] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 07:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/12 07:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:02:23 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 07:02:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 07:02:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:02:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.869s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:27 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.669[m] 83.421[deg] [grasp_sample.py: 539] +05/12 07:02:28 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:02:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:02:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:02:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 366 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144122m [env.py: 870] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.336848 -1.1465597 -0.14412224] yaw=-53.5deg [env.py: 1019] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18047604 -1.13076061 -0.14412224] yaw=-28.5deg [env.py: 1019] +05/12 07:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:02:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.6ms, total=205.7ms [env.py: 1075] +05/12 07:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.147, -0.144) [env.py: 1079] +05/12 07:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 07:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 07:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:02:30 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 07:02:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:02:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.178s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:30 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.637[deg] [grasp_sample.py: 539] +05/12 07:02:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:02:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:02:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:02:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.963s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.657[m] 96.418[deg] [grasp_sample.py: 539] +05/12 07:02:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:02:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:02:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:34 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:02:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123786m [env.py: 870] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63022543 -0.84486006 -0.12378625] yaw=-65.2deg [env.py: 1019] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:02:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=379.2ms, total=379.3ms [env.py: 1075] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.630, -0.845, -0.124) [env.py: 1079] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/12 07:02:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:02:36 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 07:02:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:02:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.912s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:39 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.748[m] 79.583[deg] [grasp_sample.py: 539] +05/12 07:02:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:02:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:02:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:02:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:02:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.969s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:42 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.138[m] 16.849[deg] [grasp_sample.py: 539] +05/12 07:02:43 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:02:43 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:02:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165247m [env.py: 870] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.3ms, total=198.3ms [env.py: 1105] +05/12 07:02:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:02:44 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:02:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:02:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:02:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:02:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:02:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:02:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107009m [env.py: 870] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:02:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59369365 -0.97766864 -0.10700856] yaw=-73.9deg [env.py: 1019] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:02:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.2ms, total=221.2ms [env.py: 1075] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.978, -0.107) [env.py: 1079] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg [env.py: 1082] +05/12 07:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:02:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:02:46 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 07:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 07:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:02:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:02:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:02:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:02:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 324 non-colliding grasps [grasp_sample.py: 465] +05/12 07:02:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:48 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.037[m] 1.909[deg] [grasp_sample.py: 539] +05/12 07:02:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:02:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.229s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:02:49 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.696[m] 101.116[deg] [grasp_sample.py: 539] +05/12 07:02:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:02:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:02:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:02:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:02:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:03:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:06 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:03:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:03:06 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 07:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:11 INFO: [Worker 0] Object is not in grasp! 0.00105 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:03:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:03:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 383 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:12 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.052[m] 1.496[deg] [grasp_sample.py: 539] +05/12 07:03:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:03:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:03:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:03:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:03:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:03:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.33s (batch: 3.45s, save: 8.88s) [pipeline.py: 300] +05/12 07:03:19 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.51s: + episode_total: mean=149.92s, total=149.92s, count=1, min=149920.5ms, max=149920.5ms + sensor_polling: mean=361.6ms, total=99.09s, count=274, min=298.1ms, max=656.4ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8876.2ms, max=8876.2ms + physics_step: mean=23.8ms, total=6.52s, count=274, min=15.0ms, max=36.8ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3450.8ms, max=3450.8ms + task_sampling: mean=510.9ms, total=510.9ms, count=1, min=510.9ms, max=510.9ms + task_specific_sample: mean=507.1ms, total=507.1ms, count=1, min=507.1ms, max=507.1ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=581.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:03:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:03:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:03:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114695m [env.py: 870] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:03:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=175.5ms, total=175.6ms [env.py: 1105] +05/12 07:03:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:03:20 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:03:21 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:03:21 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=False episode_total=0.74s: + episode_total: mean=61.95s, total=123.91s, count=2, min=2996.3ms, max=120911.6ms + sensor_polling: mean=339.6ms, total=101.88s, count=300, min=302.2ms, max=642.1ms + physics_step: mean=22.1ms, total=6.63s, count=300, min=14.6ms, max=84.9ms + task_sampling: mean=370.4ms, total=740.7ms, count=2, min=364.1ms, max=376.7ms + task_specific_sample: mean=367.5ms, total=735.0ms, count=2, min=360.9ms, max=374.1ms + scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.0ms, max=1.9ms + mj_forward_sync: mean=434.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:03:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:03:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:03:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:03:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:03:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:03:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117813m [env.py: 870] +05/12 07:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:03:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.879s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:22 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.513[m] 70.967[deg] [grasp_sample.py: 539] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:03:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:03:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:03:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:03:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:03:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102302m [env.py: 870] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:03:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34884163 -0.95725355 -0.10230186] yaw=-48.4deg [env.py: 1019] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63051923 -0.95314877 -0.11781257] yaw=-62.9deg [env.py: 1019] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:03:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:03:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09617333 -1.06258785 -0.10230186] yaw=-41.0deg [env.py: 1019] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:03:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.0ms, total=225.1ms [env.py: 1075] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -0.957, -0.102) [env.py: 1079] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:03:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=959.5ms, total=959.5ms [env.py: 1075] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.631, -0.953, -0.118) [env.py: 1079] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 07:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:03:23 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 07:03:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:03:23 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 07:03:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 07:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 07:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.273s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.665[m] 93.039[deg] [grasp_sample.py: 539] +05/12 07:03:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:03:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:03:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.553s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:26 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.767[m] 91.004[deg] [grasp_sample.py: 539] +05/12 07:03:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:03:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:03:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:03:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.762s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:38 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.513[m] 70.968[deg] [grasp_sample.py: 539] +05/12 07:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:39 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:03:39 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 07:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:03:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:03:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:03:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:03:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:03:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:03:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187056m [env.py: 870] +05/12 07:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:03:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31397937 -1.15910489 -0.18705648] yaw=-32.8deg [env.py: 1019] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43927594 -1.00068555 -0.18705648] yaw=-62.1deg [env.py: 1019] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46988398 -1.0262128 -0.18705648] yaw=-66.7deg [env.py: 1019] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.0ms, total=182.1ms [env.py: 1075] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.159, -0.187) [env.py: 1079] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg [env.py: 1082] +05/12 07:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 07:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:03:41 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 07:03:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 07:03:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.632[m] 84.493[deg] [grasp_sample.py: 539] +05/12 07:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:03:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:03:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:03:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:49 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.098[m] 8.209[deg] [grasp_sample.py: 539] +05/12 07:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:03:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:03:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:03:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:50 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:03:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.295s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:52 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.496[m] 64.413[deg] [grasp_sample.py: 539] +05/12 07:03:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:03:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:03:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:03:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:03:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:03:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159144m [env.py: 870] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:03:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=383.5ms, total=383.6ms [env.py: 1105] +05/12 07:03:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:03:52 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:03:53 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:03:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:03:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:03:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:03:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:03:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:03:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:03:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174293m [env.py: 870] +05/12 07:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:03:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31395498 -0.95350747 -0.17429251] yaw=-54.5deg [env.py: 1019] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51134223 -1.03704225 -0.17429251] yaw=-53.0deg [env.py: 1019] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:03:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.3ms, total=223.4ms [env.py: 1075] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -0.954, -0.174) [env.py: 1079] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:03:54 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 07:03:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 07:03:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:03:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:03:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:03:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:03:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:03:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148022m [env.py: 870] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:03:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4431943 -1.09541942 -0.14802188] yaw=-57.0deg [env.py: 1019] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:03:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.7ms, total=230.8ms [env.py: 1075] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -1.095, -0.148) [env.py: 1079] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 07:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:03:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:03:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:03:55 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 07:03:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 07:03:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:03:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:03:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:03:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.912s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.747[m] 81.109[deg] [grasp_sample.py: 539] +05/12 07:03:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:03:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.717s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:03:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 86.645[deg] [grasp_sample.py: 539] +05/12 07:03:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:03:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:03:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:03:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:03:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:04:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:04:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:04:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:04:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:04:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:04:54 INFO: [Worker 0] Object is not in grasp! 0.00121 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:04:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:04:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:04:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 349 non-colliding grasps [grasp_sample.py: 465] +05/12 07:04:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.360s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:04:54 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.130[m] 4.157[deg] [grasp_sample.py: 539] +05/12 07:04:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:04:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:04:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:04:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:05:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:05:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:15 INFO: [Worker 0] Object is not in grasp! 0.00158 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:05:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:05:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:05:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:05:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 409 non-colliding grasps [grasp_sample.py: 465] +05/12 07:05:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.319s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:05:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.131[m] 4.602[deg] [grasp_sample.py: 539] +05/12 07:05:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:05:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:05:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:05:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:05:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:05:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:05:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 338 non-colliding grasps [grasp_sample.py: 465] +05/12 07:05:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.528s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:05:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.038[m] 1.300[deg] [grasp_sample.py: 539] +05/12 07:05:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:05:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:05:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:05:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:05:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:05:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:05:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:05:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:05:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 07:05:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:05:35 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.029[m] 21.533[deg] [grasp_sample.py: 539] +05/12 07:05:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:05:35 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:05:35 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=False episode_total=1.32s: + episode_total: mean=60.65s, total=242.59s, count=4, min=208.7ms, max=114969.0ms + sensor_polling: mean=331.3ms, total=165.00s, count=498, min=296.9ms, max=1175.6ms + physics_step: mean=21.0ms, total=10.47s, count=498, min=13.3ms, max=50.6ms + task_specific_sample: mean=379.4ms, total=1.52s, count=4, min=204.1ms, max=451.5ms + task_sampling: mean=441.2ms, total=1.32s, count=3, min=425.0ms, max=454.5ms + task_sampling_failed: mean=208.7ms, total=208.7ms, count=1, min=208.7ms, max=208.7ms + scene_randomize: mean=1.7ms, total=6.7ms, count=4, min=1.0ms, max=2.4ms + mj_forward_sync: mean=417.1us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:05:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:05:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:05:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:05:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:05:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:05:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:05:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:05:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184846m [env.py: 870] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:05:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28714048 -1.22335508 -0.18484617] yaw=-32.8deg [env.py: 1019] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:05:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.5ms [env.py: 1075] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -1.223, -0.185) [env.py: 1079] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg [env.py: 1082] +05/12 07:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:05:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:05:37 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 07:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:05:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:05:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:05:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:05:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:05:39 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.654[m] 83.972[deg] [grasp_sample.py: 539] +05/12 07:05:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:05:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:05:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:05:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:05:43 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:05:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:05:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:06:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:06:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:06:06 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 07:06:10 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:06:11 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:06:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:06:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:06:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.79s (batch: 3.22s, save: 9.57s) [pipeline.py: 300] +05/12 07:06:20 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.48s: + episode_total: mean=177.55s, total=177.55s, count=1, min=177546.7ms, max=177546.7ms + sensor_polling: mean=427.5ms, total=124.41s, count=291, min=305.3ms, max=720.9ms + save_trajectories: mean=9.57s, total=9.57s, count=1, min=9565.7ms, max=9565.7ms + physics_step: mean=27.0ms, total=7.85s, count=291, min=15.9ms, max=69.9ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3222.2ms, max=3222.2ms + task_sampling: mean=480.3ms, total=480.3ms, count=1, min=480.3ms, max=480.3ms + task_specific_sample: mean=477.9ms, total=477.9ms, count=1, min=477.9ms, max=477.9ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=383.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:06:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115029m [env.py: 870] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66748396 -0.93967393 -0.11502857] yaw=-61.1deg [env.py: 1019] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.28467131 -0.96147525 -0.11502857] yaw=-44.5deg [env.py: 1019] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.68231602 -0.96661174 -0.11502857] yaw=-74.0deg [env.py: 1019] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:06:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=233.4ms, total=233.5ms [env.py: 1075] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.667, -0.940, -0.115) [env.py: 1079] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/12 07:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:06:22 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 07:06:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 07:06:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:06:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:06:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:06:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.526s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:06:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.657[m] 87.407[deg] [grasp_sample.py: 539] +05/12 07:06:24 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:06:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131198m [env.py: 870] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32183892 -1.10992241 -0.1311982 ] yaw=-50.5deg [env.py: 1019] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.2ms [env.py: 1075] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.110, -0.131) [env.py: 1079] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/12 07:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:06:26 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 07:06:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 07:06:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:06:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:06:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:06:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:06:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.737[m] 88.164[deg] [grasp_sample.py: 539] +05/12 07:06:28 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:06:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158714m [env.py: 870] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=367.9ms, total=367.9ms [env.py: 1105] +05/12 07:06:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:06:30 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:06:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:06:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:06:31 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 07:06:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108444m [env.py: 870] +05/12 07:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.63605844 -0.90500789 -0.10844429] yaw=-73.8deg [env.py: 1019] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:06:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=517.9ms, total=518.0ms [env.py: 1075] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.905, -0.108) [env.py: 1079] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.8 deg [env.py: 1082] +05/12 07:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 07:06:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:06:32 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 07:06:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 07:06:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:06:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:06:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:06:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.590s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:06:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.697[m] 89.466[deg] [grasp_sample.py: 539] +05/12 07:06:34 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:06:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:06:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:06:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 07:06:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190860m [env.py: 870] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58358664 -0.85381672 -0.19085995] yaw=-72.8deg [env.py: 1019] +05/12 07:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37976625 -1.0940935 -0.19085995] yaw=-47.0deg [env.py: 1019] +05/12 07:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:06:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=335.6ms, total=335.6ms [env.py: 1075] +05/12 07:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.854, -0.191) [env.py: 1079] +05/12 07:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg [env.py: 1082] +05/12 07:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 07:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:06:36 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 07:06:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:06:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:06:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:06:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:06:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:06:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.981s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:06:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.719[m] 94.836[deg] [grasp_sample.py: 539] +05/12 07:06:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:06:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:06:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:06:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:06:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:06:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:06:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.56s (batch: 3.68s, save: 8.88s) [pipeline.py: 300] +05/12 07:06:44 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=1.71s: + episode_total: mean=67.25s, total=201.75s, count=3, min=186.9ms, max=170210.8ms + sensor_polling: mean=411.1ms, total=131.56s, count=320, min=307.4ms, max=701.0ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8881.4ms, max=8881.4ms + physics_step: mean=25.6ms, total=8.20s, count=320, min=14.9ms, max=67.4ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3682.0ms, max=3682.0ms + task_specific_sample: mean=629.2ms, total=1.89s, count=3, min=181.3ms, max=1243.0ms + task_sampling: mean=855.8ms, total=1.71s, count=2, min=465.9ms, max=1245.6ms + task_sampling_failed: mean=186.8ms, total=186.8ms, count=1, min=186.8ms, max=186.8ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.5ms + mj_forward_sync: mean=436.1us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=14.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166375m [env.py: 870] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=179.4ms, total=179.4ms [env.py: 1105] +05/12 07:06:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:06:46 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:06:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192774m [env.py: 870] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32355284 -0.97481113 -0.19277412] yaw=-40.0deg [env.py: 1019] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30024167 -1.15439372 -0.19277412] yaw=-40.0deg [env.py: 1019] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=314.9ms, total=314.9ms [env.py: 1075] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -0.975, -0.193) [env.py: 1079] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.0 deg [env.py: 1082] +05/12 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:06:48 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 07:06:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/12 07:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:06:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:06:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:06:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:06:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:06:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.78s (batch: 3.63s, save: 10.14s) [pipeline.py: 300] +05/12 07:06:49 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=2.45s: + episode_total: mean=30.34s, total=273.05s, count=9, min=226.5ms, max=176048.6ms + sensor_polling: mean=372.1ms, total=166.69s, count=448, min=286.7ms, max=757.4ms + save_trajectories: mean=10.14s, total=10.14s, count=1, min=10143.4ms, max=10143.4ms + physics_step: mean=22.1ms, total=9.92s, count=448, min=14.6ms, max=34.7ms + task_specific_sample: mean=416.6ms, total=3.75s, count=9, min=221.4ms, max=580.8ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3632.5ms, max=3632.5ms + task_sampling: mean=489.5ms, total=2.45s, count=5, min=407.1ms, max=582.9ms + task_sampling_failed: mean=332.5ms, total=1.33s, count=4, min=226.5ms, max=464.9ms + scene_randomize: mean=1.2ms, total=10.7ms, count=9, min=0.9ms, max=2.2ms + mj_forward_sync: mean=395.6us, total=3.6ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=13.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:06:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169130m [env.py: 870] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=179.4ms, total=179.4ms [env.py: 1105] +05/12 07:06:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:06:51 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:06:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:06:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:06:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:06:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:06:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:06:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173797m [env.py: 870] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:06:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45936233 -0.90324706 -0.1737968 ] yaw=-47.9deg [env.py: 1019] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29956585 -1.06606037 -0.1737968 ] yaw=-42.5deg [env.py: 1019] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:06:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms [env.py: 1075] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -0.903, -0.174) [env.py: 1079] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 07:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:06:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:06:53 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 07:06:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 07:06:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:06:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:06:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:06:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:06:54 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.718[m] 76.166[deg] [grasp_sample.py: 539] +05/12 07:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:06:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:06:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:06:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:06:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.533s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:06:55 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.749[m] 91.676[deg] [grasp_sample.py: 539] +05/12 07:06:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:06:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:06:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:06:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:07:22 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:07:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:43 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:07:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:07:43 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 07:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:07:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:07:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:07:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 485 non-colliding grasps [grasp_sample.py: 465] +05/12 07:07:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:07:46 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.065[m] 18.006[deg] [grasp_sample.py: 539] +05/12 07:07:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:07:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:07:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:07:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:07:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:07:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:07:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 496 non-colliding grasps [grasp_sample.py: 465] +05/12 07:07:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:07:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:07:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:07:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.27s (batch: 3.54s, save: 8.72s) [pipeline.py: 300] +05/12 07:07:56 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.44s: + episode_total: mean=139.07s, total=139.07s, count=1, min=139070.3ms, max=139070.3ms + sensor_polling: mean=355.1ms, total=95.17s, count=268, min=307.3ms, max=776.7ms + save_trajectories: mean=8.72s, total=8.72s, count=1, min=8722.2ms, max=8722.2ms + physics_step: mean=23.1ms, total=6.19s, count=268, min=14.9ms, max=50.3ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3542.8ms, max=3542.8ms + task_sampling: mean=438.5ms, total=438.5ms, count=1, min=438.5ms, max=438.5ms + task_specific_sample: mean=435.6ms, total=435.6ms, count=1, min=435.6ms, max=435.6ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=424.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:07:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:07:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:07:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:07:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:07:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:07:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:07:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:07:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103683m [env.py: 870] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:07:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=181.7ms, total=181.7ms [env.py: 1105] +05/12 07:07:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:07:57 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:07:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:07:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:07:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:07:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119449m [env.py: 870] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37546144 -0.98677104 -0.11944857] yaw=-49.9deg [env.py: 1019] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:07:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=259.9ms, total=259.9ms [env.py: 1075] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -0.987, -0.119) [env.py: 1079] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 07:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:07:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:07:59 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 07:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:07:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 07:07:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:07:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:07:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:08:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.116s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:05 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.757[m] 84.514[deg] [grasp_sample.py: 539] +05/12 07:08:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:08:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:08:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:08:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:07 INFO: [Worker 0] Feasible grasp found 1006 (originally 342): w/ 0.119[m] 34.521[deg] [grasp_sample.py: 539] +05/12 07:08:08 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:08:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173497m [env.py: 870] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18717147 -1.02506974 -0.17349731] yaw=-42.0deg [env.py: 1019] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:08:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.5ms [env.py: 1075] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -1.025, -0.173) [env.py: 1079] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/12 07:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:08:10 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 07:08:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 07:08:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.383s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:08:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165552m [env.py: 870] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=699.2ms, total=699.2ms [env.py: 1105] +05/12 07:08:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:08:14 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:08:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.685s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:14 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.208[m] 14.455[deg] [grasp_sample.py: 539] +05/12 07:08:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:08:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105224m [env.py: 870] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53623439 -0.90852915 -0.1052241 ] yaw=-72.1deg [env.py: 1019] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:08:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:08:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:08:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=484.0ms, total=484.1ms [env.py: 1075] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.909, -0.105) [env.py: 1079] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.1 deg [env.py: 1082] +05/12 07:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:08:16 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 07:08:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:08:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:08:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:19 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.788[m] 93.708[deg] [grasp_sample.py: 539] +05/12 07:08:21 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:08:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140458m [env.py: 870] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52507189 -0.99510152 -0.1404577 ] yaw=-51.3deg [env.py: 1019] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23324323 -0.91654871 -0.1404577 ] yaw=-59.2deg [env.py: 1019] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:08:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=309.9ms, total=309.9ms [env.py: 1075] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.995, -0.140) [env.py: 1079] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 07:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:08:22 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 07:08:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:08:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.544s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:28 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.686[m] 82.381[deg] [grasp_sample.py: 539] +05/12 07:08:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.177s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:28 INFO: [Worker 0] Feasible grasp found 360 (originally 360): w/ 0.407[m] 25.171[deg] [grasp_sample.py: 539] +05/12 07:08:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:08:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:08:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:08:29 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:08:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155935m [env.py: 870] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=513.1ms, total=513.1ms [env.py: 1105] +05/12 07:08:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:08:31 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:08:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137481m [env.py: 870] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23168522 -1.18757545 -0.13748121] yaw=-27.6deg [env.py: 1019] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20848004 -1.10848973 -0.13748121] yaw=-35.2deg [env.py: 1019] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20025851 -1.05744588 -0.13748121] yaw=-36.2deg [env.py: 1019] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:08:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.6ms, total=300.6ms [env.py: 1075] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.188, -0.137) [env.py: 1079] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.6 deg [env.py: 1082] +05/12 07:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:08:33 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 07:08:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:08:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:34 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.734[m] 88.919[deg] [grasp_sample.py: 539] +05/12 07:08:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:08:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:08:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:08:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:08:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:08:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:08:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.664s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:08:42 INFO: [Worker 0] Feasible grasp found 386 (originally 386): w/ 0.392[m] 21.138[deg] [grasp_sample.py: 539] +05/12 07:08:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:08:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:08:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:08:45 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:08:53 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:08:54 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:08:54 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=0.39s: + episode_total: mean=60.91s, total=121.83s, count=2, min=189.4ms, max=121637.2ms + sensor_polling: mean=367.6ms, total=72.78s, count=198, min=315.5ms, max=555.7ms + physics_step: mean=21.0ms, total=4.16s, count=198, min=15.1ms, max=56.7ms + task_specific_sample: mean=287.4ms, total=574.8ms, count=2, min=185.2ms, max=389.6ms + task_sampling: mean=392.1ms, total=392.1ms, count=1, min=392.1ms, max=392.1ms + task_sampling_failed: mean=189.4ms, total=189.4ms, count=1, min=189.4ms, max=189.4ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=0.9ms, max=2.5ms + mj_forward_sync: mean=407.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:08:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144151m [env.py: 870] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=221.1ms, total=221.2ms [env.py: 1105] +05/12 07:08:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:08:56 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144227m [env.py: 870] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.4ms, total=205.5ms [env.py: 1105] +05/12 07:08:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:08:57 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:08:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:08:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:08:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:08:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:08:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:08:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:08:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142682m [env.py: 870] +05/12 07:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:08:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22300065 -1.04140267 -0.14268185] yaw=-47.3deg [env.py: 1019] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:08:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.2ms, total=232.3ms [env.py: 1075] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.223, -1.041, -0.143) [env.py: 1079] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/12 07:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 07:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:08:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:08:59 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 07:08:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 07:08:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:08:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:08:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:09:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:09:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.721[m] 89.182[deg] [grasp_sample.py: 539] +05/12 07:09:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:09:02 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:09:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:09:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:09:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:09:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:09:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:09:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174366m [env.py: 870] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:09:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27399751 -1.13178106 -0.17436629] yaw=-36.1deg [env.py: 1019] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45558432 -0.77921589 -0.17436629] yaw=-58.2deg [env.py: 1019] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57701716 -0.74043774 -0.17436629] yaw=-80.2deg [env.py: 1019] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:09:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.2ms [env.py: 1075] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.132, -0.174) [env.py: 1079] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg [env.py: 1082] +05/12 07:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:09:04 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 07:09:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:09:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:09:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:09:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:09:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:09:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:09:07 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 07:09:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.007s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:09:08 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.682[m] 85.407[deg] [grasp_sample.py: 539] +05/12 07:09:09 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:09:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:09:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:09:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:09:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:09:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:09:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:09:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145618m [env.py: 870] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:09:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36890213 -1.03273425 -0.14561769] yaw=-55.1deg [env.py: 1019] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36672012 -0.90363184 -0.14561769] yaw=-45.0deg [env.py: 1019] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:09:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms [env.py: 1075] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.369, -1.033, -0.146) [env.py: 1079] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 07:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:09:10 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 07:09:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 07:09:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:09:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:09:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:09:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.059s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:09:13 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.708[m] 81.020[deg] [grasp_sample.py: 539] +05/12 07:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:09:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:09:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:09:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:09:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.24s (batch: 3.89s, save: 10.35s) [pipeline.py: 300] +05/12 07:09:22 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.58s: + episode_total: mean=77.41s, total=154.81s, count=2, min=189.8ms, max=154620.7ms + sensor_polling: mean=365.0ms, total=101.47s, count=278, min=297.5ms, max=627.1ms + save_trajectories: mean=10.35s, total=10.35s, count=1, min=10351.4ms, max=10351.4ms + physics_step: mean=23.8ms, total=6.63s, count=278, min=14.7ms, max=106.4ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3891.9ms, max=3891.9ms + task_specific_sample: mean=380.6ms, total=761.2ms, count=2, min=185.3ms, max=575.9ms + task_sampling: mean=578.4ms, total=578.4ms, count=1, min=578.4ms, max=578.4ms + task_sampling_failed: mean=189.8ms, total=189.8ms, count=1, min=189.8ms, max=189.8ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=0.9ms, max=2.5ms + mj_forward_sync: mean=408.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:09:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:09:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128970m [env.py: 870] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54165727 -0.73936215 -0.12897029] yaw=-75.7deg [env.py: 1019] +05/12 07:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=440.7ms, total=440.7ms [env.py: 1075] +05/12 07:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -0.739, -0.129) [env.py: 1079] +05/12 07:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 07:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 07:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:09:24 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 07:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 07:09:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:09:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:09:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:09:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.788s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:09:26 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:09:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:09:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:09:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:09:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:09:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:09:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:09:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190112m [env.py: 870] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:09:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=481.5ms, total=481.6ms [env.py: 1105] +05/12 07:09:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:09:27 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:09:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:09:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:09:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:09:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:09:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:09:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:09:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179084m [env.py: 870] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:09:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15418539 -0.97651706 -0.17908378] yaw=-45.0deg [env.py: 1019] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:09:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.7ms, total=224.8ms [env.py: 1075] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -0.977, -0.179) [env.py: 1079] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg [env.py: 1082] +05/12 07:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:09:29 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 07:09:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:09:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:09:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:09:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:09:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.590s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:09:31 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:09:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:09:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:09:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:09:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:09:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:09:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122622m [env.py: 870] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:09:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36399595 -1.12027163 -0.12262208] yaw=-48.0deg [env.py: 1019] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:09:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.8ms [env.py: 1075] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.120, -0.123) [env.py: 1079] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg [env.py: 1082] +05/12 07:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:09:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:09:33 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 07:09:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 07:09:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:09:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:09:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:09:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.396s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:09:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.691[m] 82.885[deg] [grasp_sample.py: 539] +05/12 07:09:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:09:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:09:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:09:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:09:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:09:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:09:59 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:10:19 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:10:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:10:19 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 07:10:19 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:10:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:10:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:10:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:10:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:10:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.43s (batch: 3.30s, save: 9.13s) [pipeline.py: 300] +05/12 07:10:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:10:32 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.53s: + episode_total: mean=76.85s, total=153.70s, count=2, min=194.7ms, max=153503.0ms + sensor_polling: mean=365.0ms, total=104.76s, count=287, min=306.0ms, max=685.5ms + save_trajectories: mean=9.13s, total=9.13s, count=1, min=9127.0ms, max=9127.0ms + physics_step: mean=23.0ms, total=6.61s, count=287, min=14.9ms, max=50.1ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3301.9ms, max=3301.9ms + task_specific_sample: mean=356.6ms, total=713.1ms, count=2, min=187.7ms, max=525.4ms + task_sampling: mean=528.1ms, total=528.1ms, count=1, min=528.1ms, max=528.1ms + task_sampling_failed: mean=194.7ms, total=194.7ms, count=1, min=194.7ms, max=194.7ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=417.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:10:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:10:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:10:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:10:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:10:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:10:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:10:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:10:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:10:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145886m [env.py: 870] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:10:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.3ms, total=222.3ms [env.py: 1105] +05/12 07:10:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:10:34 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:10:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:10:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:10:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:10:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:10:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:10:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:10:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:10:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114427m [env.py: 870] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:10:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64181271 -0.9336822 -0.11442738] yaw=-67.5deg [env.py: 1019] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:10:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.0ms [env.py: 1075] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.642, -0.934, -0.114) [env.py: 1079] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/12 07:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:10:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:10:35 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 07:10:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 07:10:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:10:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:10:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:10:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:10:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:10:39 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:10:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:10:39 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 07:10:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:10:42 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.727[m] 91.058[deg] [grasp_sample.py: 539] +05/12 07:10:43 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:10:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:10:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:10:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:10:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:10:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115740m [env.py: 870] +05/12 07:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35119864 -1.11188603 -0.11574014] yaw=-35.8deg [env.py: 1019] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:10:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.7ms, total=168.7ms [env.py: 1075] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -1.112, -0.116) [env.py: 1079] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.8 deg [env.py: 1082] +05/12 07:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 07:10:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:10:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:10:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:10:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:10:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:10:45 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 07:10:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:10:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:10:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:10:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:10:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.666s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:10:47 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.678[m] 74.791[deg] [grasp_sample.py: 539] +05/12 07:10:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:10:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:10:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:10:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:10:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:10:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.97s (batch: 2.95s, save: 9.02s) [pipeline.py: 300] +05/12 07:10:51 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=4.46s: + episode_total: mean=23.39s, total=257.28s, count=11, min=380.1ms, max=139325.4ms + sensor_polling: mean=334.3ms, total=149.11s, count=446, min=292.1ms, max=606.8ms + physics_step: mean=21.4ms, total=9.55s, count=446, min=14.8ms, max=42.6ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.8ms, max=9024.8ms + task_specific_sample: mean=548.4ms, total=6.03s, count=11, min=372.8ms, max=764.5ms + task_sampling: mean=557.4ms, total=4.46s, count=8, min=429.0ms, max=767.4ms + save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2946.5ms, max=2946.5ms + task_sampling_failed: mean=539.0ms, total=1.62s, count=3, min=380.0ms, max=709.0ms + scene_randomize: mean=1.4ms, total=15.6ms, count=11, min=0.9ms, max=3.1ms + mj_forward_sync: mean=445.9us, total=4.9ms, count=11, min=0.4ms, max=0.8ms + policy_setup: mean=12.5us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:10:53 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:10:53 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:10:53 INFO: [Worker 0] Worker 0 completed house 1: 8/11 successful episodes [pipeline.py: 1323] +05/12 07:10:53 INFO: [Worker 0] [PROFILE] House 1 complete: 8/11 successful, 11 episodes, total_time=3228.78s + House averages: + episode_total: mean=25.74s, total=1853.49s, count=72, min=197.4ms, max=177546.7ms + sensor_polling: mean=352.0ms, total=1131.68s, count=3215, min=292.1ms, max=720.9ms + save_trajectories: mean=9.20s, total=73.59s, count=8, min=8475.6ms, max=10027.5ms + physics_step: mean=22.6ms, total=72.56s, count=3215, min=13.2ms, max=113.3ms + task_specific_sample: mean=421.0ms, total=30.31s, count=72, min=194.4ms, max=764.5ms + save_batch_prep: mean=3.44s, total=27.48s, count=8, min=2946.5ms, max=4399.1ms + task_sampling: mean=535.0ms, total=27.29s, count=51, min=364.1ms, max=3210.3ms + task_sampling_failed: mean=279.9ms, total=5.88s, count=21, min=197.3ms, max=709.0ms + scene_load: mean=2.63s, total=2.63s, count=1, min=2630.9ms, max=2630.9ms + scene_env_create: mean=1.43s, total=1.43s, count=1, min=1430.9ms, max=1430.9ms + scene_compile: mean=989.8ms, total=989.8ms, count=1, min=989.8ms, max=989.8ms + compile_mujoco: mean=600.0ms, total=600.0ms, count=1, min=600.0ms, max=600.0ms + compile_xml_load: mean=301.2ms, total=301.2ms, count=1, min=301.2ms, max=301.2ms + scene_init: mean=154.1ms, total=154.1ms, count=1, min=154.1ms, max=154.1ms + scene_randomize: mean=1.2ms, total=90.0ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms + compile_aux_policy_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms + scene_asset_install: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms + asset_install_grasps: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + mj_forward_sync: mean=430.5us, total=31.0ms, count=72, min=0.4ms, max=0.8ms + compile_robot_add: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=13.9us, total=0.7ms, count=51, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 07:10:53 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 07:10:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3228.78s + Worker averages: + episode_total: mean=25.74s, total=1853.49s, count=72, min=197.4ms, max=177546.7ms + sensor_polling: mean=352.0ms, total=1131.68s, count=3215, min=292.1ms, max=720.9ms + save_trajectories: mean=9.20s, total=73.59s, count=8, min=8475.6ms, max=10027.5ms + physics_step: mean=22.6ms, total=72.56s, count=3215, min=13.2ms, max=113.3ms + task_specific_sample: mean=421.0ms, total=30.31s, count=72, min=194.4ms, max=764.5ms + save_batch_prep: mean=3.44s, total=27.48s, count=8, min=2946.5ms, max=4399.1ms + task_sampling: mean=535.0ms, total=27.29s, count=51, min=364.1ms, max=3210.3ms + task_sampling_failed: mean=279.9ms, total=5.88s, count=21, min=197.3ms, max=709.0ms + scene_load: mean=2.63s, total=2.63s, count=1, min=2630.9ms, max=2630.9ms + scene_env_create: mean=1.43s, total=1.43s, count=1, min=1430.9ms, max=1430.9ms + scene_compile: mean=989.8ms, total=989.8ms, count=1, min=989.8ms, max=989.8ms + compile_mujoco: mean=600.0ms, total=600.0ms, count=1, min=600.0ms, max=600.0ms + compile_xml_load: mean=301.2ms, total=301.2ms, count=1, min=301.2ms, max=301.2ms + scene_init: mean=154.1ms, total=154.1ms, count=1, min=154.1ms, max=154.1ms + scene_randomize: mean=1.2ms, total=90.0ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms + compile_aux_policy_objects: mean=68.0ms, total=68.0ms, count=1, min=68.0ms, max=68.0ms + scene_asset_install: mean=56.0ms, total=56.0ms, count=1, min=56.0ms, max=56.0ms + asset_install_grasps: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + mj_forward_sync: mean=430.5us, total=31.0ms, count=72, min=0.4ms, max=0.8ms + compile_robot_add: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=13.9us, total=0.7ms, count=51, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 07:10:56 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 07:10:56 INFO: Success count: 8, Total count: 11 [pipeline.py: 1491] +05/12 07:10:56 INFO: Success rate: 72.73% [pipeline.py: 1492] +05/12 07:11:15 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:11:26 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:11:33 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:11:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:11:33 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 07:11:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:11:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:11:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:11:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:11:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:11:46 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 07:11:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:11:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:11:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.50s (batch: 3.65s, save: 9.84s) [pipeline.py: 300] +05/12 07:11:47 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.56s: + episode_total: mean=34.99s, total=139.96s, count=4, min=494.0ms, max=134579.1ms + sensor_polling: mean=336.8ms, total=91.96s, count=273, min=300.4ms, max=632.8ms + save_trajectories: mean=9.84s, total=9.84s, count=1, min=9844.1ms, max=9844.1ms + physics_step: mean=21.7ms, total=5.92s, count=273, min=14.6ms, max=36.6ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3652.7ms, max=3652.7ms + task_specific_sample: mean=510.0ms, total=2.04s, count=4, min=409.6ms, max=712.7ms + task_sampling: mean=520.8ms, total=1.56s, count=3, min=411.7ms, max=716.9ms + task_sampling_failed: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms + scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=0.9ms, max=2.8ms + mj_forward_sync: mean=420.1us, total=1.7ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=12.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:11:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:11:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:11:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:11:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:11:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:11:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:11:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:11:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:11:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106363m [env.py: 870] +05/12 07:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:11:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=251.2ms, total=251.2ms [env.py: 1105] +05/12 07:11:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:11:49 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:11:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:11:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:11:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:11:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:11:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:11:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:11:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159497m [env.py: 870] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:11:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33889398 -0.91633468 -0.1594967 ] yaw=-47.4deg [env.py: 1019] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62822407 -0.82161934 -0.1594967 ] yaw=-72.9deg [env.py: 1019] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:11:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -0.916, -0.159) [env.py: 1079] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/12 07:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:11:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:11:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:11:50 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 07:11:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 07:11:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:11:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:11:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:11:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:11:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:11:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.76s (batch: 3.96s, save: 8.80s) [pipeline.py: 300] +05/12 07:11:59 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=1.33s: + episode_total: mean=35.75s, total=178.77s, count=5, min=215.0ms, max=169254.3ms + sensor_polling: mean=420.3ms, total=117.26s, count=279, min=328.0ms, max=668.0ms + save_trajectories: mean=8.80s, total=8.80s, count=1, min=8802.4ms, max=8802.4ms + physics_step: mean=26.2ms, total=7.30s, count=279, min=14.7ms, max=154.2ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.2ms, max=3957.2ms + task_specific_sample: mean=351.0ms, total=1.75s, count=5, min=210.7ms, max=558.1ms + task_sampling: mean=441.7ms, total=1.33s, count=3, min=353.4ms, max=560.6ms + task_sampling_failed: mean=222.5ms, total=445.0ms, count=2, min=215.0ms, max=230.0ms + scene_randomize: mean=1.0ms, total=5.1ms, count=5, min=0.9ms, max=1.2ms + mj_forward_sync: mean=436.3us, total=2.2ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=12.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:12:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171536m [env.py: 870] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28709315 -0.92663063 -0.17153625] yaw=-39.6deg [env.py: 1019] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11422639 -1.10145156 -0.17153625] yaw=-32.0deg [env.py: 1019] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=255.2ms, total=255.3ms [env.py: 1075] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -0.927, -0.172) [env.py: 1079] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg [env.py: 1082] +05/12 07:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:01 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:12:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.121s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:12:03 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189832m [env.py: 870] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3643676 -0.8909588 -0.18983155] yaw=-62.7deg [env.py: 1019] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54478283 -0.76840707 -0.18983155] yaw=-56.5deg [env.py: 1019] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39250661 -1.05923168 -0.18983155] yaw=-56.0deg [env.py: 1019] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=625.2ms, total=625.2ms [env.py: 1075] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.891, -0.190) [env.py: 1079] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/12 07:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 07:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:06 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:12:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:12:08 INFO: [Worker 0] Feasible grasp found 198 (originally 198): w/ 0.764[m] 84.160[deg] [grasp_sample.py: 539] +05/12 07:12:09 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125619m [env.py: 870] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42813483 -1.12453718 -0.12561873] yaw=-51.4deg [env.py: 1019] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=318.2ms, total=318.3ms [env.py: 1075] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -1.125, -0.126) [env.py: 1079] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/12 07:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:11 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:12:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.500s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:12:11 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.778[m] 96.013[deg] [grasp_sample.py: 539] +05/12 07:12:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:12:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:12:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:12:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.433s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:12:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.624[m] 85.342[deg] [grasp_sample.py: 539] +05/12 07:12:14 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:12:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179579m [env.py: 870] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.2ms, total=207.2ms [env.py: 1105] +05/12 07:12:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:12:15 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:12:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104922m [env.py: 870] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62281116 -0.80779298 -0.1049217 ] yaw=-60.6deg [env.py: 1019] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52870511 -0.95043156 -0.1049217 ] yaw=-64.3deg [env.py: 1019] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms [env.py: 1075] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.623, -0.808, -0.105) [env.py: 1079] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg [env.py: 1082] +05/12 07:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:17 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:12:23 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:12:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:12:26 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.780[m] 82.747[deg] [grasp_sample.py: 539] +05/12 07:12:27 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:12:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160557m [env.py: 870] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41679978 -0.89190327 -0.16055714] yaw=-56.0deg [env.py: 1019] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42513513 -0.83048146 -0.16055714] yaw=-54.5deg [env.py: 1019] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22738951 -0.93297055 -0.16055714] yaw=-39.1deg [env.py: 1019] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.8ms, total=176.9ms [env.py: 1075] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -0.892, -0.161) [env.py: 1079] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 07:12:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:28 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:12:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:12:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.756[m] 88.290[deg] [grasp_sample.py: 539] +05/12 07:12:31 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:12:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116038m [env.py: 870] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45653884 -0.88135383 -0.11603799] yaw=-49.4deg [env.py: 1019] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=290.6ms, total=290.6ms [env.py: 1075] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -0.881, -0.116) [env.py: 1079] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/12 07:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:33 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:12:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:12:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:12:42 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 07:12:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.195s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:12:43 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.746[m] 78.014[deg] [grasp_sample.py: 539] +05/12 07:12:44 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:12:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187709m [env.py: 870] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.5ms, total=195.5ms [env.py: 1105] +05/12 07:12:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:12:45 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:12:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159096m [env.py: 870] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.8ms, total=202.9ms [env.py: 1105] +05/12 07:12:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:12:46 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182953m [env.py: 870] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.8ms, total=192.9ms [env.py: 1105] +05/12 07:12:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:12:48 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:12:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118239m [env.py: 870] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.0ms, total=202.0ms [env.py: 1105] +05/12 07:12:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:12:49 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:12:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161367m [env.py: 870] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.8ms, total=192.9ms [env.py: 1105] +05/12 07:12:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:12:51 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:12:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168840m [env.py: 870] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49618294 -0.91586267 -0.1688398 ] yaw=-53.7deg [env.py: 1019] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.8ms [env.py: 1075] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.916, -0.169) [env.py: 1079] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.7 deg [env.py: 1082] +05/12 07:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:52 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:12:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:12:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:12:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.71s (batch: 3.02s, save: 8.69s) [pipeline.py: 300] +05/12 07:12:54 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.79s: + episode_total: mean=46.18s, total=138.54s, count=3, min=234.5ms, max=129846.2ms + sensor_polling: mean=325.8ms, total=87.98s, count=270, min=295.9ms, max=570.1ms + save_trajectories: mean=8.69s, total=8.69s, count=1, min=8687.5ms, max=8687.5ms + physics_step: mean=21.2ms, total=5.71s, count=270, min=14.6ms, max=32.7ms + save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3021.9ms, max=3021.9ms + task_specific_sample: mean=337.0ms, total=1.01s, count=3, min=228.2ms, max=435.5ms + task_sampling: mean=393.7ms, total=787.5ms, count=2, min=349.5ms, max=438.0ms + task_sampling_failed: mean=234.5ms, total=234.5ms, count=1, min=234.5ms, max=234.5ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.9ms, max=2.4ms + mj_forward_sync: mean=402.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:12:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107456m [env.py: 870] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=289.6ms, total=289.7ms [env.py: 1105] +05/12 07:12:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:12:56 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:12:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.703s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:12:57 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.748[m] 86.860[deg] [grasp_sample.py: 539] +05/12 07:12:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:12:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:12:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:12:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:12:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:12:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138091m [env.py: 870] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:12:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4740216 -0.74037367 -0.13809099] yaw=-54.1deg [env.py: 1019] +05/12 07:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56668698 -0.92403792 -0.13809099] yaw=-68.3deg [env.py: 1019] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:12:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:12:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:12:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=675.0ms, total=675.0ms [env.py: 1075] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.740, -0.138) [env.py: 1079] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 07:12:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 07:12:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:12:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:12:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:12:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:12:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:12:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:12:58 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 07:12:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 07:12:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:12:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:12:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:13:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:13:00 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:13:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:13:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191589m [env.py: 870] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=362.6ms, total=362.6ms [env.py: 1105] +05/12 07:13:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:13:01 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:13:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:13:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:13:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:13:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:13:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:13:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:13:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115333m [env.py: 870] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:13:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.2ms, total=220.3ms [env.py: 1105] +05/12 07:13:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:13:03 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:13:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:13:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:13:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:13:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:13:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:13:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136668m [env.py: 870] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:13:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24676633 -0.90719288 -0.1366683 ] yaw=-39.6deg [env.py: 1019] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:13:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.7ms, total=213.8ms [env.py: 1075] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.907, -0.137) [env.py: 1079] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg [env.py: 1082] +05/12 07:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:13:05 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 07:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:13:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:13:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:13:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.338s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:13:06 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:13:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:13:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:13:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:13:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:13:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:13:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161728m [env.py: 870] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:13:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.0ms, total=199.0ms [env.py: 1105] +05/12 07:13:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:13:07 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:13:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:13:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:13:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:13:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:13:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:13:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115443m [env.py: 870] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:13:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3032785 -1.19985699 -0.11544251] yaw=-40.9deg [env.py: 1019] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:13:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.5ms, total=212.5ms [env.py: 1075] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.303, -1.200, -0.115) [env.py: 1079] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.9 deg [env.py: 1082] +05/12 07:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:13:09 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 07:13:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:13:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:13:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:13:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:13:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.654[m] 81.691[deg] [grasp_sample.py: 539] +05/12 07:13:11 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:13:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:13:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:13:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:13:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:13:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:13:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112874m [env.py: 870] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:13:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.4ms, total=196.5ms [env.py: 1105] +05/12 07:13:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:13:12 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:13:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:13:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:13:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:13:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:13:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:13:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199227m [env.py: 870] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:13:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59113505 -1.01571693 -0.199227 ] yaw=-69.7deg [env.py: 1019] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34345385 -0.85981387 -0.199227 ] yaw=-61.3deg [env.py: 1019] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:13:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.1ms, total=207.1ms [env.py: 1075] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.591, -1.016, -0.199) [env.py: 1079] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg [env.py: 1082] +05/12 07:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:13:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:13:14 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 07:13:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:13:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:13:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:13:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.815s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:13:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.581[m] 87.760[deg] [grasp_sample.py: 539] +05/12 07:13:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:13:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:13:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:13:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:13:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:13:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:13:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:13:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:13:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:13:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:13:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.018s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:13:40 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.455[m] 63.902[deg] [grasp_sample.py: 539] +05/12 07:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:13:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:13:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:13:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:13:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:13:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:13:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.013s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:13:53 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.455[m] 63.905[deg] [grasp_sample.py: 539] +05/12 07:13:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:13:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:13:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:14:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:14:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:14:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:14:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:14:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.812s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:14:06 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.455[m] 63.905[deg] [grasp_sample.py: 539] +05/12 07:14:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:14:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:14:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:14:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:14:17 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:14:17 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=2.16s: + episode_total: mean=7.97s, total=71.75s, count=9, min=204.3ms, max=63758.9ms + sensor_polling: mean=313.3ms, total=21.93s, count=70, min=304.5ms, max=324.1ms + task_specific_sample: mean=383.1ms, total=3.45s, count=9, min=201.2ms, max=908.5ms + task_sampling: mean=540.9ms, total=2.16s, count=4, min=411.4ms, max=911.1ms + task_sampling_failed: mean=261.8ms, total=1.31s, count=5, min=204.3ms, max=370.3ms + physics_step: mean=17.3ms, total=1.21s, count=70, min=13.0ms, max=21.6ms + scene_randomize: mean=1.2ms, total=10.6ms, count=9, min=1.0ms, max=2.6ms + mj_forward_sync: mean=408.0us, total=3.7ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:14:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:14:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:14:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:14:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172593m [env.py: 870] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62578388 -0.91312179 -0.17259291] yaw=-61.3deg [env.py: 1019] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1075] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.626, -0.913, -0.173) [env.py: 1079] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/12 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:14:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:14:19 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 07:14:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 07:14:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:14:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:14:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:14:23 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:14:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.184s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:14:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.669[m] 94.993[deg] [grasp_sample.py: 539] +05/12 07:14:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:14:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:14:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:14:24 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:14:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:14:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:14:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:14:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 377 non-colliding grasps [grasp_sample.py: 465] +05/12 07:14:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:14:25 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.137[m] 3.735[deg] [grasp_sample.py: 539] +05/12 07:14:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:14:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:14:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:14:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:14:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:14:44 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 07:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:14:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:14:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:14:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:14:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:14:48 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:14:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:14:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:14:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:14:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 399 non-colliding grasps [grasp_sample.py: 465] +05/12 07:14:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.771s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:14:48 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.544[m] 72.570[deg] [grasp_sample.py: 539] +05/12 07:14:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:14:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.384s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:14:49 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.124[m] 3.509[deg] [grasp_sample.py: 539] +05/12 07:14:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:14:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:14:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:14:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:14:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:14:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.97s (batch: 3.41s, save: 9.57s) [pipeline.py: 300] +05/12 07:14:58 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.34s: + episode_total: mean=87.84s, total=175.67s, count=2, min=2823.6ms, max=172849.4ms + sensor_polling: mean=421.2ms, total=121.73s, count=289, min=324.4ms, max=727.8ms + save_trajectories: mean=9.57s, total=9.57s, count=1, min=9566.1ms, max=9566.1ms + physics_step: mean=25.6ms, total=7.40s, count=289, min=16.8ms, max=60.3ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3407.7ms, max=3407.7ms + task_sampling: mean=670.6ms, total=1.34s, count=2, min=502.0ms, max=839.1ms + task_specific_sample: mean=666.9ms, total=1.33s, count=2, min=498.3ms, max=835.5ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=515.5us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:14:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:14:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:14:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128497m [env.py: 870] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.2ms, total=212.3ms [env.py: 1105] +05/12 07:14:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:14:59 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:15:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:15:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:15:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:15:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:15:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:15:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:15:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189848m [env.py: 870] +05/12 07:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:15:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49406909 -0.73844265 -0.18984843] yaw=-75.6deg [env.py: 1019] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:15:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms [env.py: 1075] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.738, -0.190) [env.py: 1079] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.6 deg [env.py: 1082] +05/12 07:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 07:15:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:15:01 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 07:15:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 07:15:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.221s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:15:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.540[m] 71.870[deg] [grasp_sample.py: 539] +05/12 07:15:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:15:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:15:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:15:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.556s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:15:03 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:15:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:03 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:15:03 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=False episode_total=2.71s: + episode_total: mean=13.86s, total=180.23s, count=13, min=200.3ms, max=131289.6ms + sensor_polling: mean=350.3ms, total=105.08s, count=300, min=300.6ms, max=592.8ms + physics_step: mean=22.7ms, total=6.81s, count=300, min=14.6ms, max=32.5ms + task_specific_sample: mean=321.4ms, total=4.18s, count=13, min=197.5ms, max=533.8ms + task_sampling: mean=451.9ms, total=2.71s, count=6, min=384.2ms, max=536.1ms + task_sampling_failed: mean=215.5ms, total=1.51s, count=7, min=200.3ms, max=266.3ms + scene_randomize: mean=1.3ms, total=16.6ms, count=13, min=0.9ms, max=3.4ms + mj_forward_sync: mean=421.9us, total=5.5ms, count=13, min=0.4ms, max=0.6ms + policy_setup: mean=12.8us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:15:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:15:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144140m [env.py: 870] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61472278 -0.98610329 -0.14414039] yaw=-60.4deg [env.py: 1019] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36193533 -0.87807265 -0.14414039] yaw=-60.6deg [env.py: 1019] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1075] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.986, -0.144) [env.py: 1079] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:15:04 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 07:15:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:15:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:15:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:15:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136570m [env.py: 870] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56121166 -0.90422455 -0.13657011] yaw=-56.1deg [env.py: 1019] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:15:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.6ms, total=206.6ms [env.py: 1075] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.904, -0.137) [env.py: 1079] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/12 07:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 07:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:15:05 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 07:15:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 07:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.879s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:15:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.620[m] 82.510[deg] [grasp_sample.py: 539] +05/12 07:15:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:15:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:15:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:15:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.053s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:15:10 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.701[m] 83.117[deg] [grasp_sample.py: 539] +05/12 07:15:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:15:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:15:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:15:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:15:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:15:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:15:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.062s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:15:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.540[m] 71.871[deg] [grasp_sample.py: 539] +05/12 07:15:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:15:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:15:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:15:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:15:31 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:15:31 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.42s: + episode_total: mean=72.00s, total=72.00s, count=1, min=72004.1ms, max=72004.1ms + sensor_polling: mean=361.9ms, total=24.97s, count=69, min=303.9ms, max=466.9ms + physics_step: mean=19.4ms, total=1.34s, count=69, min=12.9ms, max=29.8ms + task_sampling: mean=423.5ms, total=423.5ms, count=1, min=423.5ms, max=423.5ms + task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=419.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:15:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:15:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:15:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:15:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:15:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:15:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:15:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174392m [env.py: 870] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:15:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41819061 -0.85861169 -0.17439242] yaw=-52.5deg [env.py: 1019] +05/12 07:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=496.2ms, total=496.3ms [env.py: 1075] +05/12 07:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.859, -0.174) [env.py: 1079] +05/12 07:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/12 07:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 07:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:15:33 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 07:15:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:15:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.057s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:15:34 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.483[m] 59.477[deg] [grasp_sample.py: 539] +05/12 07:15:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:15:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:15:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:15:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:15:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:15:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:15:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.288s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:15:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.482[m] 59.309[deg] [grasp_sample.py: 539] +05/12 07:15:48 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:15:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:15:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:15:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:15:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145751m [env.py: 870] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41883119 -1.00412555 -0.14575106] yaw=-42.8deg [env.py: 1019] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.400627 -0.96201076 -0.14575106] yaw=-47.7deg [env.py: 1019] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59767197 -0.94551947 -0.14575106] yaw=-61.7deg [env.py: 1019] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.0ms, total=137.0ms [env.py: 1075] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -1.004, -0.146) [env.py: 1079] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/12 07:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:15:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:15:50 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 07:15:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:15:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:15:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:15:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:15:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.701s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:15:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.728[m] 84.105[deg] [grasp_sample.py: 539] +05/12 07:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:15:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:15:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:15:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:15:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:16:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:16:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:16:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 37.593s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:16:11 INFO: [Worker 0] Feasible grasp found 475 (originally 475): w/ 0.774[m] 88.750[deg] [grasp_sample.py: 539] +05/12 07:16:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:16:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:16:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:16:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:16:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:16:48 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:16:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:16:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:17:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:17:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:17:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:17:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:17:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:17:09 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:17:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:17:09 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 07:17:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:17:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:17:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.72s (batch: 3.55s, save: 8.17s) [pipeline.py: 300] +05/12 07:17:21 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.44s: + episode_total: mean=136.61s, total=136.61s, count=1, min=136606.5ms, max=136606.5ms + sensor_polling: mean=325.4ms, total=89.82s, count=276, min=295.0ms, max=597.4ms + save_trajectories: mean=8.17s, total=8.17s, count=1, min=8173.1ms, max=8173.1ms + physics_step: mean=21.0ms, total=5.80s, count=276, min=14.6ms, max=70.2ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3549.2ms, max=3549.2ms + task_sampling: mean=438.8ms, total=438.8ms, count=1, min=438.8ms, max=438.8ms + task_specific_sample: mean=436.3ms, total=436.3ms, count=1, min=436.3ms, max=436.3ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=415.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:17:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:17:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:17:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:17:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:17:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:17:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:17:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:17:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:17:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119906m [env.py: 870] +05/12 07:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:17:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46219087 -0.91479577 -0.11990599] yaw=-52.9deg [env.py: 1019] +05/12 07:17:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32689894 -0.93765305 -0.11990599] yaw=-53.8deg [env.py: 1019] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:17:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=296.0ms, total=296.1ms [env.py: 1075] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.915, -0.120) [env.py: 1079] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 07:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 07:17:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:17:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:17:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:17:23 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 07:17:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 07:17:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:17:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:17:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:17:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.423s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:17:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.721[m] 95.028[deg] [grasp_sample.py: 539] +05/12 07:17:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:17:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:17:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:17:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:17:40 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:17:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 40.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:17:44 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 07:17:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:17:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:17:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:17:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:17:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:17:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:17:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107196m [env.py: 870] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:17:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24073972 -1.08187337 -0.10719598] yaw=-53.8deg [env.py: 1019] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:17:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=672.5ms, total=672.5ms [env.py: 1075] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -1.082, -0.107) [env.py: 1079] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 07:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:17:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:17:47 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 07:17:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 07:17:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:17:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:17:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:18:01 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:18:01 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 07:18:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.029s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:18:08 INFO: [Worker 0] Feasible grasp found 54 (originally 54): w/ 0.755[m] 106.540[deg] [grasp_sample.py: 539] +05/12 07:18:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:18:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:18:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:18:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:18:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:18:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:18:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.71s (batch: 3.57s, save: 9.14s) [pipeline.py: 300] +05/12 07:18:14 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.21s: + episode_total: mean=47.86s, total=191.45s, count=4, min=224.5ms, max=144956.5ms + sensor_polling: mean=354.5ms, total=118.41s, count=334, min=305.9ms, max=649.1ms + save_trajectories: mean=9.14s, total=9.14s, count=1, min=9143.5ms, max=9143.5ms + physics_step: mean=20.8ms, total=6.96s, count=334, min=13.4ms, max=33.1ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.3ms, max=3570.3ms + task_specific_sample: mean=354.1ms, total=1.42s, count=4, min=218.0ms, max=458.9ms + task_sampling: mean=401.9ms, total=1.21s, count=3, min=336.8ms, max=461.4ms + task_sampling_failed: mean=224.5ms, total=224.5ms, count=1, min=224.5ms, max=224.5ms + scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=0.9ms, max=2.6ms + mj_forward_sync: mean=382.8us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:18:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:18:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:18:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:18:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:18:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:18:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170089m [env.py: 870] +05/12 07:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:18:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31534718 -1.07165581 -0.17008929] yaw=-48.1deg [env.py: 1019] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09763094 -1.06553912 -0.17008929] yaw=-37.9deg [env.py: 1019] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=646.2ms, total=646.3ms [env.py: 1075] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.072, -0.170) [env.py: 1079] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 07:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/12 07:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:18:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:18:16 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 07:18:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 07:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:18:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:18:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.858s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:18:20 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.710[m] 85.631[deg] [grasp_sample.py: 539] +05/12 07:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:21 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:18:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:18:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:18:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:18:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:18:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:18:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:18:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:18:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:18:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:18:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:18:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185231m [env.py: 870] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:18:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38394007 -0.93346255 -0.18523126] yaw=-52.0deg [env.py: 1019] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:18:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=424.7ms, total=424.7ms [env.py: 1075] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -0.933, -0.185) [env.py: 1079] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/12 07:18:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:18:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:18:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:18:23 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 07:18:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 07:18:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:18:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:18:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:18:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.728s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:18:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.130[m] 14.944[deg] [grasp_sample.py: 539] +05/12 07:18:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:18:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:18:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:18:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.120s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:18:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.710[m] 85.505[deg] [grasp_sample.py: 539] +05/12 07:18:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:18:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:18:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:18:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:18:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:18:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:18:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:18:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:18:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:18:55 INFO: [Worker 0] Feasible grasp found 502 (originally 502): w/ 0.291[m] 25.292[deg] [grasp_sample.py: 539] +05/12 07:18:56 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:18:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:18:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:18:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:18:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:18:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:18:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:18:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:18:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:18:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161998m [env.py: 870] +05/12 07:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:18:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44557116 -0.77943767 -0.16199804] yaw=-66.9deg [env.py: 1019] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:18:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.8ms, total=195.9ms [env.py: 1075] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -0.779, -0.162) [env.py: 1079] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 07:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 07:18:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:18:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:18:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:18:58 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 07:18:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 07:18:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:18:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:18:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:18:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:19:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.538s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:19:00 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:19:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:19:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:19:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:19:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:19:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:19:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:19:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182971m [env.py: 870] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:19:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.8ms, total=194.8ms [env.py: 1105] +05/12 07:19:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:19:01 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:19:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:19:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:19:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:19:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:19:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:19:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:19:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174644m [env.py: 870] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:19:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36448858 -0.91575097 -0.17464436] yaw=-43.0deg [env.py: 1019] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:19:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.5ms, total=201.5ms [env.py: 1075] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.916, -0.175) [env.py: 1079] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 07:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:19:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:19:03 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 07:19:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 07:19:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:19:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:19:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:19:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:19:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:19:07 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.776[m] 85.202[deg] [grasp_sample.py: 539] +05/12 07:19:08 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:19:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:19:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:19:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:19:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:19:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:19:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:19:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125144m [env.py: 870] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:19:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64726672 -0.87558544 -0.12514372] yaw=-75.7deg [env.py: 1019] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:19:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.7ms, total=212.7ms [env.py: 1075] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.647, -0.876, -0.125) [env.py: 1079] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 07:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:19:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:19:09 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 07:19:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:19:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:19:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:19:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:19:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:19:16 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.733[m] 88.371[deg] [grasp_sample.py: 539] +05/12 07:19:17 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:19:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:19:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:19:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:19:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:19:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:19:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:19:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:19:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:19:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145098m [env.py: 870] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:19:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49249722 -1.00176949 -0.14509806] yaw=-48.9deg [env.py: 1019] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:19:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.6ms, total=262.7ms [env.py: 1075] +05/12 07:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -1.002, -0.145) [env.py: 1079] +05/12 07:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 07:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 07:19:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:19:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:19:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:19:19 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 07:19:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:19:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:19:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:19:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:19:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.249s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:19:23 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.688[m] 82.120[deg] [grasp_sample.py: 539] +05/12 07:19:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:19:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:19:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:19:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:19:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:19:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:19:49 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:20:07 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:20:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:20:07 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 07:20:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:20:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:20:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.68s (batch: 3.13s, save: 8.54s) [pipeline.py: 300] +05/12 07:20:20 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.67s: + episode_total: mean=143.06s, total=286.12s, count=2, min=132087.9ms, max=154032.3ms + sensor_polling: mean=321.0ms, total=133.55s, count=416, min=296.5ms, max=581.4ms + physics_step: mean=20.8ms, total=8.64s, count=416, min=15.2ms, max=31.3ms + save_trajectories: mean=8.54s, total=8.54s, count=1, min=8543.8ms, max=8543.8ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3134.0ms, max=3134.0ms + task_sampling: mean=833.0ms, total=1.67s, count=2, min=754.5ms, max=911.4ms + task_specific_sample: mean=829.0ms, total=1.66s, count=2, min=751.0ms, max=907.1ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.4ms, max=2.2ms + mj_forward_sync: mean=606.0us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=11.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:20:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:20:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:20:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:20:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:20:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137628m [env.py: 870] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33773316 -1.14248557 -0.1376278 ] yaw=-47.4deg [env.py: 1019] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58952999 -0.69403299 -0.1376278 ] yaw=-60.8deg [env.py: 1019] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.3ms, total=281.4ms [env.py: 1075] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.142, -0.138) [env.py: 1079] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/12 07:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:20:21 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 07:20:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 07:20:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:20:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:20:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:23 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:20:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.887s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:20:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.664[m] 76.436[deg] [grasp_sample.py: 539] +05/12 07:20:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:20:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:20:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:20:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:20:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:20:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:20:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:20:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:20:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:20:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 384 non-colliding grasps [grasp_sample.py: 465] +05/12 07:20:43 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:20:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:20:43 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 07:20:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.677s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:20:44 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.037[m] 3.565[deg] [grasp_sample.py: 539] +05/12 07:20:45 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:20:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:20:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:20:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:20:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:20:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:20:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:20:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155161m [env.py: 870] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:20:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26036567 -0.99593018 -0.15516123] yaw=-54.6deg [env.py: 1019] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:20:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.0ms [env.py: 1075] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -0.996, -0.155) [env.py: 1079] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 07:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:20:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:20:47 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 07:20:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 07:20:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:20:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:20:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:20:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:20:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:20:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.44s (batch: 3.42s, save: 9.03s) [pipeline.py: 300] +05/12 07:20:56 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=1.56s: + episode_total: mean=79.45s, total=158.89s, count=2, min=6064.9ms, max=152825.2ms + sensor_polling: mean=387.1ms, total=106.84s, count=276, min=303.3ms, max=616.6ms + save_trajectories: mean=9.03s, total=9.03s, count=1, min=9025.5ms, max=9025.5ms + physics_step: mean=23.9ms, total=6.60s, count=276, min=19.7ms, max=83.4ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3416.6ms, max=3416.6ms + task_sampling: mean=780.7ms, total=1.56s, count=2, min=643.4ms, max=917.9ms + task_specific_sample: mean=776.9ms, total=1.55s, count=2, min=640.4ms, max=913.3ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.0ms, max=3.1ms + mj_forward_sync: mean=520.9us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:20:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.876s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:20:57 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.777[m] 89.312[deg] [grasp_sample.py: 539] +05/12 07:20:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:20:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:20:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:20:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:20:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:20:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:20:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183420m [env.py: 870] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:20:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47203856 -0.98758714 -0.18342008] yaw=-49.8deg [env.py: 1019] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:20:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.6ms, total=176.7ms [env.py: 1075] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.472, -0.988, -0.183) [env.py: 1079] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 07:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:20:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:20:57 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 07:20:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 07:20:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:20:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:20:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:20:58 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:20:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:20:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.631[m] 88.175[deg] [grasp_sample.py: 539] +05/12 07:20:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:20:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:20:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:20:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:20:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:20:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:20:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:20:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:20:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:20:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132830m [env.py: 870] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:20:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39049882 -1.06067088 -0.13282967] yaw=-55.2deg [env.py: 1019] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:20:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.3ms, total=273.3ms [env.py: 1075] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -1.061, -0.133) [env.py: 1079] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 07:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:21:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:21:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:21:00 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 07:21:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:21:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:21:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:21:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:21:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:21:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.694[m] 87.805[deg] [grasp_sample.py: 539] +05/12 07:21:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:21:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:21:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:21:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:21:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:43 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:21:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:21:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:21:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:21:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 341 non-colliding grasps [grasp_sample.py: 465] +05/12 07:21:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.369s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:21:43 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.123[m] 5.028[deg] [grasp_sample.py: 539] +05/12 07:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:21:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:21:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:21:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:21:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:21:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:22:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:22:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:22:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:22:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:22:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:22:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:22:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 337 non-colliding grasps [grasp_sample.py: 465] +05/12 07:22:09 INFO: [Worker 0] Object is not in grasp! 0.00095 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:22:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:22:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:22:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:22:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 394 non-colliding grasps [grasp_sample.py: 465] +05/12 07:22:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:22:10 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.713[deg] [grasp_sample.py: 539] +05/12 07:22:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:22:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:22:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:22:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.812s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:22:13 INFO: [Worker 0] Feasible grasp found 372 (originally 372): w/ 0.127[m] 6.935[deg] [grasp_sample.py: 539] +05/12 07:22:14 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:22:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:22:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:22:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:22:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:22:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:22:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101136m [env.py: 870] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:22:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57060489 -0.93896351 -0.10113647] yaw=-73.9deg [env.py: 1019] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:22:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=165.9ms, total=166.0ms [env.py: 1075] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.939, -0.101) [env.py: 1079] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg [env.py: 1082] +05/12 07:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:22:16 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 07:22:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 07:22:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:22:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:22:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:22:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.062s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:22:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.717[m] 97.331[deg] [grasp_sample.py: 539] +05/12 07:22:19 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:22:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:22:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:22:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:22:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:22:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:22:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:22:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120074m [env.py: 870] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:22:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30042163 -1.05071769 -0.12007385] yaw=-40.8deg [env.py: 1019] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25659088 -1.11258876 -0.12007385] yaw=-33.1deg [env.py: 1019] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:22:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.7ms, total=181.7ms [env.py: 1075] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.051, -0.120) [env.py: 1079] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.8 deg [env.py: 1082] +05/12 07:22:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:22:20 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 07:22:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 07:22:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:22:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:22:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:22:26 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:22:26 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=0.53s: + episode_total: mean=124.74s, total=124.74s, count=1, min=124742.9ms, max=124742.9ms + sensor_polling: mean=354.6ms, total=106.37s, count=300, min=298.8ms, max=578.5ms + physics_step: mean=22.7ms, total=6.82s, count=300, min=19.4ms, max=34.4ms + task_sampling: mean=534.3ms, total=534.3ms, count=1, min=534.3ms, max=534.3ms + task_specific_sample: mean=530.6ms, total=530.6ms, count=1, min=530.6ms, max=530.6ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=415.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:22:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.217s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:22:26 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.723[m] 86.363[deg] [grasp_sample.py: 539] +05/12 07:22:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:22:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:22:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:22:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:22:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:22:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:22:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:22:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:22:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189804m [env.py: 870] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:22:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35674322 -1.06990859 -0.1898037 ] yaw=-57.0deg [env.py: 1019] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:22:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.3ms, total=218.3ms [env.py: 1075] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.070, -0.190) [env.py: 1079] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 07:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:22:27 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 07:22:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:22:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:22:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:22:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:22:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.724s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:22:29 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.677[m] 89.002[deg] [grasp_sample.py: 539] +05/12 07:22:30 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:22:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:22:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:22:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:22:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:22:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:22:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102933m [env.py: 870] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:22:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61395613 -0.97868704 -0.10293303] yaw=-69.4deg [env.py: 1019] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34345419 -1.18172052 -0.10293303] yaw=-32.0deg [env.py: 1019] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31713137 -1.12678902 -0.10293303] yaw=-48.1deg [env.py: 1019] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:22:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.2ms [env.py: 1075] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.614, -0.979, -0.103) [env.py: 1079] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg [env.py: 1082] +05/12 07:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:22:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:22:32 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 07:22:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 07:22:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:22:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:22:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:22:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.678s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:22:35 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.705[m] 86.059[deg] [grasp_sample.py: 539] +05/12 07:22:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:22:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:22:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:22:38 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:22:58 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:22:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:22:58 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 07:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:23:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:23:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.573s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:07 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.499[m] 56.722[deg] [grasp_sample.py: 539] +05/12 07:23:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:23:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:23:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:23:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.89s (batch: 3.36s, save: 8.53s) [pipeline.py: 300] +05/12 07:23:10 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=3.17s: + episode_total: mean=42.42s, total=339.34s, count=8, min=204.1ms, max=131305.1ms + sensor_polling: mean=334.8ms, total=193.18s, count=577, min=296.3ms, max=673.1ms + physics_step: mean=21.5ms, total=12.40s, count=577, min=15.0ms, max=76.5ms + save_trajectories: mean=8.53s, total=8.53s, count=1, min=8526.1ms, max=8526.1ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3360.1ms, max=3360.1ms + task_specific_sample: mean=419.0ms, total=3.35s, count=8, min=199.6ms, max=512.8ms + task_sampling: mean=452.8ms, total=3.17s, count=7, min=408.9ms, max=515.7ms + task_sampling_failed: mean=204.1ms, total=204.1ms, count=1, min=204.1ms, max=204.1ms + scene_randomize: mean=1.1ms, total=9.2ms, count=8, min=1.0ms, max=1.7ms + mj_forward_sync: mean=404.9us, total=3.2ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131635m [env.py: 870] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32788634 -1.12701492 -0.13163458] yaw=-42.0deg [env.py: 1019] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms [env.py: 1075] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.127, -0.132) [env.py: 1079] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/12 07:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:12 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.013s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:16 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.678[m] 80.093[deg] [grasp_sample.py: 539] +05/12 07:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:17 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:23:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148940m [env.py: 870] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54107412 -1.03749996 -0.14893964] yaw=-67.1deg [env.py: 1019] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38921697 -0.81891001 -0.14893964] yaw=-53.8deg [env.py: 1019] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24922012 -1.06731073 -0.14893964] yaw=-54.3deg [env.py: 1019] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=417.0ms, total=417.0ms [env.py: 1075] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -1.037, -0.149) [env.py: 1079] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg [env.py: 1082] +05/12 07:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:19 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.524s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.653[m] 91.639[deg] [grasp_sample.py: 539] +05/12 07:23:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:23:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:23:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:23:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:23:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.767s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:24 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.495[m] 56.127[deg] [grasp_sample.py: 539] +05/12 07:23:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:23:25 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:23:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148292m [env.py: 870] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.5ms, total=216.5ms [env.py: 1105] +05/12 07:23:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:23:27 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:23:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114158m [env.py: 870] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29916312 -0.94168305 -0.11415777] yaw=-46.3deg [env.py: 1019] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43149067 -0.87576875 -0.11415777] yaw=-62.1deg [env.py: 1019] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31113053 -0.9897219 -0.11415777] yaw=-50.6deg [env.py: 1019] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.1ms [env.py: 1075] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.942, -0.114) [env.py: 1079] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 07:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:28 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.328s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:23:30 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:23:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140308m [env.py: 870] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36071133 -1.01547471 -0.14030807] yaw=-53.6deg [env.py: 1019] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31216982 -0.93157674 -0.14030807] yaw=-49.7deg [env.py: 1019] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.2ms, total=229.2ms [env.py: 1075] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -1.015, -0.140) [env.py: 1079] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg [env.py: 1082] +05/12 07:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:31 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:23:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.703[m] 81.529[deg] [grasp_sample.py: 539] +05/12 07:23:34 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177576m [env.py: 870] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1105] +05/12 07:23:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:23:35 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:23:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181675m [env.py: 870] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.0ms, total=220.1ms [env.py: 1105] +05/12 07:23:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:23:37 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172074m [env.py: 870] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.5ms, total=192.5ms [env.py: 1105] +05/12 07:23:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:23:38 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122702m [env.py: 870] +05/12 07:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40926976 -0.98820239 -0.12270167] yaw=-50.3deg [env.py: 1019] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.2ms, total=209.3ms [env.py: 1075] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.988, -0.123) [env.py: 1079] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 07:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 07:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:40 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.477s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:42 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.747[m] 81.610[deg] [grasp_sample.py: 539] +05/12 07:23:44 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139988m [env.py: 870] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=413.8ms, total=413.8ms [env.py: 1105] +05/12 07:23:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:23:45 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:23:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:23:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126944m [env.py: 870] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4562539 -0.96113754 -0.12694356] yaw=-47.3deg [env.py: 1019] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=389.9ms, total=389.9ms [env.py: 1075] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.961, -0.127) [env.py: 1079] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/12 07:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:47 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.652s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:48 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.509[m] 66.617[deg] [grasp_sample.py: 539] +05/12 07:23:49 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:23:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.312s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.743[m] 93.035[deg] [grasp_sample.py: 539] +05/12 07:23:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:23:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:23:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:23:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:23:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164393m [env.py: 870] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.67361512 -0.9795119 -0.16439287] yaw=-60.4deg [env.py: 1019] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44587111 -1.02875298 -0.16439287] yaw=-54.2deg [env.py: 1019] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.4ms [env.py: 1075] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.674, -0.980, -0.164) [env.py: 1079] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 07:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:50 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.932s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:54 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.601[m] 92.556[deg] [grasp_sample.py: 539] +05/12 07:23:55 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:23:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:23:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:23:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:23:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:23:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:23:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172224m [env.py: 870] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:23:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37370926 -1.10993348 -0.17222433] yaw=-41.1deg [env.py: 1019] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:23:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=260.3ms, total=260.3ms [env.py: 1075] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.110, -0.172) [env.py: 1079] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/12 07:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:23:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:23:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:23:57 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 07:23:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:23:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:23:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:23:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:23:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:23:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.639[m] 86.328[deg] [grasp_sample.py: 539] +05/12 07:23:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:23:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:23:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:23:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:24:24 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:44 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:24:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:24:44 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 07:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:24:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:24:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:24:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:24:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:24:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:24:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.29s (batch: 3.39s, save: 8.90s) [pipeline.py: 300] +05/12 07:24:57 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=1.16s: + episode_total: mean=79.15s, total=237.45s, count=3, min=3643.3ms, max=156662.0ms + sensor_polling: mean=373.9ms, total=170.87s, count=457, min=302.0ms, max=680.9ms + physics_step: mean=22.4ms, total=10.24s, count=457, min=14.7ms, max=65.7ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8897.0ms, max=8897.0ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3390.7ms, max=3390.7ms + task_sampling: mean=385.0ms, total=1.15s, count=3, min=361.3ms, max=405.0ms + task_specific_sample: mean=381.9ms, total=1.15s, count=3, min=358.6ms, max=401.8ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=392.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:24:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:24:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:24:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:24:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:24:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:24:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:24:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:24:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:24:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174837m [env.py: 870] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:24:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:24:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=263.0ms, total=263.1ms [env.py: 1105] +05/12 07:24:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:24:58 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:25:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103706m [env.py: 870] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37435227 -0.87356069 -0.10370623] yaw=-65.3deg [env.py: 1019] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:25:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=266.6ms, total=266.7ms [env.py: 1075] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -0.874, -0.104) [env.py: 1079] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/12 07:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:25:00 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 07:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 07:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:25:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:25:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:25:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:25:02 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:25:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:25:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166689m [env.py: 870] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=358.2ms, total=358.3ms [env.py: 1105] +05/12 07:25:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:25:03 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:25:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158384m [env.py: 870] +05/12 07:25:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47497071 -0.80964167 -0.15838401] yaw=-65.9deg [env.py: 1019] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:25:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=510.6ms, total=510.6ms [env.py: 1075] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.810, -0.158) [env.py: 1079] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 07:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 07:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:25:05 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 07:25:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:25:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:25:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:25:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:25:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:25:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:25:08 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 07:25:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118214m [env.py: 870] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=197.5ms, total=197.6ms [env.py: 1105] +05/12 07:25:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:25:09 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:25:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191386m [env.py: 870] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21203453 -0.98800447 -0.19138585] yaw=-43.5deg [env.py: 1019] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:25:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.6ms, total=200.6ms [env.py: 1075] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -0.988, -0.191) [env.py: 1079] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/12 07:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:25:11 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 07:25:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:25:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:25:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:25:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:25:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.492s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:25:13 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:25:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195350m [env.py: 870] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.1ms, total=225.1ms [env.py: 1105] +05/12 07:25:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:25:14 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:25:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108829m [env.py: 870] +05/12 07:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28160673 -1.03245334 -0.10882873] yaw=-49.8deg [env.py: 1019] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=472.7ms, total=472.7ms [env.py: 1075] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.032, -0.109) [env.py: 1079] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 07:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 07:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:25:16 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 07:25:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:25:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:25:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:25:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:25:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.141s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:25:26 INFO: [Worker 0] Feasible grasp found 397 (originally 397): w/ 0.754[m] 75.899[deg] [grasp_sample.py: 539] +05/12 07:25:27 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:25:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177245m [env.py: 870] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24152644 -1.0130659 -0.17724504] yaw=-36.8deg [env.py: 1019] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3912299 -0.79836649 -0.17724504] yaw=-49.2deg [env.py: 1019] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.16324278 -1.04760808 -0.17724504] yaw=-47.6deg [env.py: 1019] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.0ms, total=272.1ms [env.py: 1075] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.013, -0.177) [env.py: 1079] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg [env.py: 1082] +05/12 07:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:25:29 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 07:25:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:25:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:25:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:25:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:25:32 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:25:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.002s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:25:35 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.736[m] 86.423[deg] [grasp_sample.py: 539] +05/12 07:25:36 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:25:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:25:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:25:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:25:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:25:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:25:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138708m [env.py: 870] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:25:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61450489 -0.93499403 -0.13870758] yaw=-60.0deg [env.py: 1019] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56674285 -0.93516722 -0.13870758] yaw=-61.4deg [env.py: 1019] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50886468 -0.94270915 -0.13870758] yaw=-54.6deg [env.py: 1019] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:25:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.8ms, total=225.8ms [env.py: 1075] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.935, -0.139) [env.py: 1079] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 07:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:25:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:25:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:25:38 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 07:25:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:25:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:25:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:25:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:25:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:25:45 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.656[m] 83.606[deg] [grasp_sample.py: 539] +05/12 07:25:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:25:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:25:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:25:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:25:48 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:25:49 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:25:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:25:49 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 07:26:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:26:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:26:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.39s (batch: 3.07s, save: 8.32s) [pipeline.py: 300] +05/12 07:26:01 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=1.95s: + episode_total: mean=41.42s, total=165.69s, count=4, min=5461.9ms, max=124499.6ms + sensor_polling: mean=328.8ms, total=100.94s, count=307, min=292.8ms, max=630.0ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8315.1ms, max=8315.1ms + physics_step: mean=21.1ms, total=6.47s, count=307, min=14.7ms, max=48.4ms + save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3073.5ms, max=3073.5ms + task_sampling: mean=488.0ms, total=1.95s, count=4, min=362.5ms, max=643.5ms + task_specific_sample: mean=485.2ms, total=1.94s, count=4, min=360.4ms, max=640.8ms + scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=0.9ms, max=2.7ms + mj_forward_sync: mean=415.6us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:26:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:26:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:26:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:26:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196110m [env.py: 870] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53209845 -0.94216451 -0.19611018] yaw=-62.5deg [env.py: 1019] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49385747 -0.82384228 -0.19611018] yaw=-64.5deg [env.py: 1019] +05/12 07:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:26:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=270.9ms, total=271.0ms [env.py: 1075] +05/12 07:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.532, -0.942, -0.196) [env.py: 1079] +05/12 07:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 07:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 07:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:26:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:26:03 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 07:26:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 07:26:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:26:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:26:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:26:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.898s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:26:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.663[m] 94.889[deg] [grasp_sample.py: 539] +05/12 07:26:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:26:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:26:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:26:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:26:07 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:26:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:26:07 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 07:26:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:26:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:26:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.38s (batch: 3.91s, save: 9.47s) [pipeline.py: 300] +05/12 07:26:21 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=2.80s: + episode_total: mean=20.14s, total=221.53s, count=11, min=200.1ms, max=154212.5ms + sensor_polling: mean=331.8ms, total=116.78s, count=352, min=291.6ms, max=721.9ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9469.7ms, max=9469.7ms + physics_step: mean=21.9ms, total=7.70s, count=352, min=14.9ms, max=94.4ms + task_specific_sample: mean=369.8ms, total=4.07s, count=11, min=197.3ms, max=600.3ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3907.3ms, max=3907.3ms + task_sampling: mean=466.8ms, total=2.80s, count=6, min=402.8ms, max=602.3ms + task_sampling_failed: mean=259.7ms, total=1.30s, count=5, min=200.1ms, max=426.9ms + scene_randomize: mean=1.1ms, total=12.0ms, count=11, min=1.0ms, max=1.6ms + mj_forward_sync: mean=411.6us, total=4.5ms, count=11, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:26:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:26:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:26:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:26:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:26:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:26:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:26:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110763m [env.py: 870] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:26:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43694727 -0.94708567 -0.11076253] yaw=-65.3deg [env.py: 1019] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:26:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=183.9ms, total=184.0ms [env.py: 1075] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.947, -0.111) [env.py: 1079] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/12 07:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:26:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:26:23 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 07:26:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 07:26:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:26:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:26:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:26:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.802s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:26:28 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.799[m] 93.474[deg] [grasp_sample.py: 539] +05/12 07:26:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:26:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:26:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:26:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:26:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:26:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:26:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:26:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:26:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:26:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 362 non-colliding grasps [grasp_sample.py: 465] +05/12 07:27:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.246s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:27:03 INFO: [Worker 0] Feasible grasp found 90 (originally 90): w/ 0.045[m] 1.784[deg] [grasp_sample.py: 539] +05/12 07:27:04 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:27:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:27:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:27:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:27:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181277m [env.py: 870] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=325.5ms, total=325.5ms [env.py: 1105] +05/12 07:27:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:27:06 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:27:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:27:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:27:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:27:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:27:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:27:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198151m [env.py: 870] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:27:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57707848 -0.72272024 -0.19815083] yaw=-58.7deg [env.py: 1019] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:27:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=292.6ms, total=292.7ms [env.py: 1075] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.723, -0.198) [env.py: 1079] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.7 deg [env.py: 1082] +05/12 07:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:27:08 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 07:27:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 07:27:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:27:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:27:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:27:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:27:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:27:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:27:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:27:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 367 non-colliding grasps [grasp_sample.py: 465] +05/12 07:27:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.496s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:27:09 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:27:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:27:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:27:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:27:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:27:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:27:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124397m [env.py: 870] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:27:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45004652 -1.03843397 -0.1243967 ] yaw=-45.3deg [env.py: 1019] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55141166 -0.85965812 -0.1243967 ] yaw=-72.6deg [env.py: 1019] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:27:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=380.8ms, total=380.9ms [env.py: 1075] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -1.038, -0.124) [env.py: 1079] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 07:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.333s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:27:11 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.636[deg] [grasp_sample.py: 539] +05/12 07:27:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:27:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:27:11 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 07:27:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:27:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:27:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:27:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:27:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:27:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.760s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:27:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.672[m] 81.465[deg] [grasp_sample.py: 539] +05/12 07:27:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:16 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:27:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:27:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:27:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:27:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:27:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:27:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:27:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103640m [env.py: 870] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:27:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.1ms, total=216.2ms [env.py: 1105] +05/12 07:27:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:27:17 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:27:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:27:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:27:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:27:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:27:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:27:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169795m [env.py: 870] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:27:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48187993 -0.81803253 -0.16979488] yaw=-66.1deg [env.py: 1019] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:27:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=247.6ms, total=247.7ms [env.py: 1075] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.818, -0.170) [env.py: 1079] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/12 07:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:27:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:27:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:27:19 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 07:27:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:27:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:27:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:27:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:27:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:27:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:27:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.791s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:27:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.771[m] 77.181[deg] [grasp_sample.py: 539] +05/12 07:27:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:27:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:27:22 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:27:23 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:27:23 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:27:23 INFO: [Worker 0] Worker 0 completed house 1: 12/14 successful episodes [pipeline.py: 1323] +05/12 07:27:23 INFO: [Worker 0] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=4930.38s + House averages: + episode_total: mean=39.53s, total=2846.32s, count=72, min=189.4ms, max=180410.1ms + sensor_polling: mean=382.2ms, total=1750.86s, count=4581, min=286.7ms, max=773.5ms + save_trajectories: mean=9.55s, total=114.55s, count=12, min=8470.6ms, max=12400.8ms + physics_step: mean=23.0ms, total=105.37s, count=4581, min=13.1ms, max=154.2ms + save_batch_prep: mean=3.52s, total=42.24s, count=12, min=3290.9ms, max=3957.2ms + task_specific_sample: mean=422.7ms, total=30.43s, count=72, min=185.2ms, max=913.3ms + task_sampling: mean=556.9ms, total=27.85s, count=50, min=336.8ms, max=3371.4ms + task_sampling_failed: mean=257.2ms, total=5.66s, count=22, min=189.4ms, max=464.9ms + scene_load: mean=2.85s, total=2.85s, count=1, min=2854.1ms, max=2854.1ms + scene_env_create: mean=1.53s, total=1.53s, count=1, min=1532.7ms, max=1532.7ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1178.3ms, max=1178.3ms + compile_mujoco: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms + compile_xml_load: mean=500.1ms, total=500.1ms, count=1, min=500.1ms, max=500.1ms + scene_init: mean=97.1ms, total=97.1ms, count=1, min=97.1ms, max=97.1ms + scene_randomize: mean=1.3ms, total=95.3ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms + compile_aux_policy_objects: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms + scene_asset_install: mean=45.8ms, total=45.8ms, count=1, min=45.8ms, max=45.8ms + asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + mj_forward_sync: mean=420.4us, total=30.3ms, count=72, min=0.4ms, max=0.7ms + compile_robot_add: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.3us, total=0.7ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 07:27:23 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 07:27:23 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4930.38s + Worker averages: + episode_total: mean=39.53s, total=2846.32s, count=72, min=189.4ms, max=180410.1ms + sensor_polling: mean=382.2ms, total=1750.86s, count=4581, min=286.7ms, max=773.5ms + save_trajectories: mean=9.55s, total=114.55s, count=12, min=8470.6ms, max=12400.8ms + physics_step: mean=23.0ms, total=105.37s, count=4581, min=13.1ms, max=154.2ms + save_batch_prep: mean=3.52s, total=42.24s, count=12, min=3290.9ms, max=3957.2ms + task_specific_sample: mean=422.7ms, total=30.43s, count=72, min=185.2ms, max=913.3ms + task_sampling: mean=556.9ms, total=27.85s, count=50, min=336.8ms, max=3371.4ms + task_sampling_failed: mean=257.2ms, total=5.66s, count=22, min=189.4ms, max=464.9ms + scene_load: mean=2.85s, total=2.85s, count=1, min=2854.1ms, max=2854.1ms + scene_env_create: mean=1.53s, total=1.53s, count=1, min=1532.7ms, max=1532.7ms + scene_compile: mean=1.18s, total=1.18s, count=1, min=1178.3ms, max=1178.3ms + compile_mujoco: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms + compile_xml_load: mean=500.1ms, total=500.1ms, count=1, min=500.1ms, max=500.1ms + scene_init: mean=97.1ms, total=97.1ms, count=1, min=97.1ms, max=97.1ms + scene_randomize: mean=1.3ms, total=95.3ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms + compile_aux_policy_objects: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms + scene_asset_install: mean=45.8ms, total=45.8ms, count=1, min=45.8ms, max=45.8ms + asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + mj_forward_sync: mean=420.4us, total=30.3ms, count=72, min=0.4ms, max=0.7ms + compile_robot_add: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.3us, total=0.7ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 07:27:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:26 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 07:27:26 INFO: Success count: 12, Total count: 14 [pipeline.py: 1491] +05/12 07:27:26 INFO: Success rate: 85.71% [pipeline.py: 1492] +05/12 07:27:33 INFO: [Worker 0] Object is not in grasp! 0.00083 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:27:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:27:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:27:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:27:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/12 07:27:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:27:35 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.625[deg] [grasp_sample.py: 539] +05/12 07:27:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:27:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:27:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:27:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:27:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:53 INFO: [Worker 0] Object is not in grasp! 0.00160 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:27:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:27:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:27:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:27:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 381 non-colliding grasps [grasp_sample.py: 465] +05/12 07:27:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.205s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:27:56 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.050[m] 1.482[deg] [grasp_sample.py: 539] +05/12 07:27:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:27:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:27:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:27:58 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:27:58 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=False episode_total=0.49s: + episode_total: mean=116.00s, total=116.00s, count=1, min=116002.5ms, max=116002.5ms + sensor_polling: mean=321.8ms, total=96.53s, count=300, min=297.4ms, max=669.5ms + physics_step: mean=21.1ms, total=6.32s, count=300, min=15.3ms, max=31.5ms + task_sampling: mean=486.6ms, total=486.6ms, count=1, min=486.6ms, max=486.6ms + task_specific_sample: mean=482.8ms, total=482.8ms, count=1, min=482.8ms, max=482.8ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=426.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:28:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:28:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:28:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:28:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:28:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:28:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:28:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143636m [env.py: 870] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:28:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=173.4ms, total=173.4ms [env.py: 1105] +05/12 07:28:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:28:00 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:28:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:28:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:28:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:28:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:28:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:28:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:28:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148284m [env.py: 870] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:28:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=480.3ms, total=480.4ms [env.py: 1105] +05/12 07:28:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:28:02 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:28:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:28:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:28:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:28:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:28:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:28:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:28:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101752m [env.py: 870] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:28:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=549.9ms, total=550.0ms [env.py: 1105] +05/12 07:28:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:28:03 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:28:05 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:28:05 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:28:05 INFO: [Worker 0] Worker 0 completed house 1: 14/16 successful episodes [pipeline.py: 1323] +05/12 07:28:05 INFO: [Worker 0] [PROFILE] House 1 complete: 14/16 successful, 16 episodes, total_time=5059.38s + House averages: + episode_total: mean=40.10s, total=2887.02s, count=72, min=181.6ms, max=170210.8ms + sensor_polling: mean=348.3ms, total=1808.58s, count=5193, min=292.8ms, max=730.9ms + save_trajectories: mean=9.29s, total=130.13s, count=14, min=8173.1ms, max=10664.9ms + physics_step: mean=22.6ms, total=117.17s, count=5193, min=14.6ms, max=122.9ms + save_batch_prep: mean=3.49s, total=48.90s, count=14, min=3073.5ms, max=3955.9ms + task_specific_sample: mean=404.1ms, total=29.10s, count=72, min=178.3ms, max=1243.0ms + task_sampling: mean=543.0ms, total=25.52s, count=47, min=362.5ms, max=3203.3ms + task_sampling_failed: mean=257.6ms, total=6.44s, count=25, min=181.6ms, max=557.6ms + scene_load: mean=2.62s, total=2.62s, count=1, min=2623.8ms, max=2623.8ms + scene_env_create: mean=1.46s, total=1.46s, count=1, min=1455.6ms, max=1455.6ms + scene_compile: mean=1.02s, total=1.02s, count=1, min=1022.2ms, max=1022.2ms + compile_mujoco: mean=694.8ms, total=694.8ms, count=1, min=694.8ms, max=694.8ms + compile_xml_load: mean=218.5ms, total=218.5ms, count=1, min=218.5ms, max=218.5ms + scene_init: mean=99.1ms, total=99.1ms, count=1, min=99.1ms, max=99.1ms + scene_randomize: mean=1.3ms, total=95.4ms, count=72, min=0.9ms, max=3.4ms + compile_aux_objects: mean=90.7ms, total=90.7ms, count=1, min=90.7ms, max=90.7ms + compile_aux_policy_objects: mean=90.7ms, total=90.7ms, count=1, min=90.7ms, max=90.7ms + scene_asset_install: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + asset_install_grasps: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + mj_forward_sync: mean=412.6us, total=29.7ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=15.7us, total=0.7ms, count=47, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 07:28:05 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 07:28:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5059.38s + Worker averages: + episode_total: mean=40.10s, total=2887.02s, count=72, min=181.6ms, max=170210.8ms + sensor_polling: mean=348.3ms, total=1808.58s, count=5193, min=292.8ms, max=730.9ms + save_trajectories: mean=9.29s, total=130.13s, count=14, min=8173.1ms, max=10664.9ms + physics_step: mean=22.6ms, total=117.17s, count=5193, min=14.6ms, max=122.9ms + save_batch_prep: mean=3.49s, total=48.90s, count=14, min=3073.5ms, max=3955.9ms + task_specific_sample: mean=404.1ms, total=29.10s, count=72, min=178.3ms, max=1243.0ms + task_sampling: mean=543.0ms, total=25.52s, count=47, min=362.5ms, max=3203.3ms + task_sampling_failed: mean=257.6ms, total=6.44s, count=25, min=181.6ms, max=557.6ms + scene_load: mean=2.62s, total=2.62s, count=1, min=2623.8ms, max=2623.8ms + scene_env_create: mean=1.46s, total=1.46s, count=1, min=1455.6ms, max=1455.6ms + scene_compile: mean=1.02s, total=1.02s, count=1, min=1022.2ms, max=1022.2ms + compile_mujoco: mean=694.8ms, total=694.8ms, count=1, min=694.8ms, max=694.8ms + compile_xml_load: mean=218.5ms, total=218.5ms, count=1, min=218.5ms, max=218.5ms + scene_init: mean=99.1ms, total=99.1ms, count=1, min=99.1ms, max=99.1ms + scene_randomize: mean=1.3ms, total=95.4ms, count=72, min=0.9ms, max=3.4ms + compile_aux_objects: mean=90.7ms, total=90.7ms, count=1, min=90.7ms, max=90.7ms + compile_aux_policy_objects: mean=90.7ms, total=90.7ms, count=1, min=90.7ms, max=90.7ms + scene_asset_install: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + asset_install_grasps: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + mj_forward_sync: mean=412.6us, total=29.7ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms + compile_robot_add: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=15.7us, total=0.7ms, count=47, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 07:28:07 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 07:28:07 INFO: Success count: 14, Total count: 16 [pipeline.py: 1491] +05/12 07:28:07 INFO: Success rate: 87.50% [pipeline.py: 1492] +05/12 07:28:25 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:28:43 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:28:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:28:43 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/12 07:28:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:28:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:28:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.67s (batch: 2.80s, save: 8.87s) [pipeline.py: 300] +05/12 07:28:55 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.42s: + episode_total: mean=153.38s, total=153.38s, count=1, min=153384.4ms, max=153384.4ms + sensor_polling: mean=338.3ms, total=100.47s, count=297, min=297.7ms, max=635.4ms + save_trajectories: mean=8.87s, total=8.87s, count=1, min=8866.5ms, max=8866.5ms + physics_step: mean=21.7ms, total=6.45s, count=297, min=19.2ms, max=31.8ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2804.3ms, max=2804.3ms + task_sampling: mean=417.8ms, total=417.8ms, count=1, min=417.8ms, max=417.8ms + task_specific_sample: mean=414.2ms, total=414.2ms, count=1, min=414.2ms, max=414.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=373.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:28:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:28:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:28:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:28:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:28:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:28:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:28:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138741m [env.py: 870] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:28:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.407097 -1.06876939 -0.13874091] yaw=-52.3deg [env.py: 1019] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32904807 -0.85293173 -0.13874091] yaw=-62.1deg [env.py: 1019] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:28:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.0ms, total=228.0ms [env.py: 1075] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -1.069, -0.139) [env.py: 1079] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 07:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:28:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:28:57 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 07:28:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 07:28:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:28:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:28:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:29:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.272s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:29:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.664[m] 91.893[deg] [grasp_sample.py: 539] +05/12 07:29:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:29:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:29:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:29:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:29:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:29:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:29:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:30:32 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:30:50 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_012 [pipeline.py: 1174] +05/12 07:30:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:30:50 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 07:31:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:31:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_012 [save_utils.py: 785] +05/12 07:31:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 11.11s (batch: 2.90s, save: 8.21s) [pipeline.py: 300] +05/12 07:31:01 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.47s: + episode_total: mean=124.74s, total=124.74s, count=1, min=124742.7ms, max=124742.7ms + sensor_polling: mean=308.8ms, total=82.77s, count=268, min=295.5ms, max=559.3ms + save_trajectories: mean=8.21s, total=8.21s, count=1, min=8214.0ms, max=8214.0ms + physics_step: mean=20.3ms, total=5.43s, count=268, min=14.5ms, max=24.3ms + save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2896.7ms, max=2896.7ms + task_sampling: mean=467.6ms, total=467.6ms, count=1, min=467.6ms, max=467.6ms + task_specific_sample: mean=464.2ms, total=464.2ms, count=1, min=464.2ms, max=464.2ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=417.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:31:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:31:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:31:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:31:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:31:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:31:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:31:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182443m [env.py: 870] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:31:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.5ms, total=166.5ms [env.py: 1105] +05/12 07:31:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:31:03 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:31:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:31:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:31:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:31:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:31:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:31:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:31:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127623m [env.py: 870] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:31:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16219363 -1.05887042 -0.12762318] yaw=-34.0deg [env.py: 1019] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36872277 -0.98306443 -0.12762318] yaw=-54.6deg [env.py: 1019] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:31:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.2ms, total=162.3ms [env.py: 1075] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -1.059, -0.128) [env.py: 1079] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.0 deg [env.py: 1082] +05/12 07:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:31:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:31:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:31:04 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 07:31:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 07:31:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:31:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:31:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:31:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.075s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:31:07 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:31:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:31:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:31:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:31:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:31:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:31:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:31:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:31:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:31:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122173m [env.py: 870] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:31:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.5ms, total=156.5ms [env.py: 1105] +05/12 07:31:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:31:08 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:31:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:31:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:31:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:31:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:31:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:31:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:31:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189372m [env.py: 870] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:31:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44186434 -1.02158411 -0.18937173] yaw=-44.7deg [env.py: 1019] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:31:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=158.9ms [env.py: 1075] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.022, -0.189) [env.py: 1079] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg [env.py: 1082] +05/12 07:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:31:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:31:09 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 07:31:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:31:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:31:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:31:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:31:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:31:16 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.631[m] 94.324[deg] [grasp_sample.py: 539] +05/12 07:31:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:31:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:31:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:31:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:32:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:32:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:32:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:32:25 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:32:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:32:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:32:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:32:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 381 non-colliding grasps [grasp_sample.py: 465] +05/12 07:32:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.383s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:32:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.050[m] 1.093[deg] [grasp_sample.py: 539] +05/12 07:32:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:32:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:32:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:32:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:32:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:32:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:32:43 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:32:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:32:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:32:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:32:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 344 non-colliding grasps [grasp_sample.py: 465] +05/12 07:32:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.040s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:32:45 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.050[m] 0.957[deg] [grasp_sample.py: 539] +05/12 07:32:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:32:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:32:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:32:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:32:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:32:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:33:07 INFO: [Worker 0] Object is not in grasp! 0.00107 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:33:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:33:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:33:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 387 non-colliding grasps [grasp_sample.py: 465] +05/12 07:33:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.108s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:33:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.560[deg] [grasp_sample.py: 539] +05/12 07:33:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:33:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:33:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:33:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:33:15 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:33:15 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=False episode_total=0.70s: + episode_total: mean=32.35s, total=129.42s, count=4, min=163.7ms, max=126431.1ms + sensor_polling: mean=314.9ms, total=94.46s, count=300, min=299.0ms, max=575.6ms + physics_step: mean=20.5ms, total=6.15s, count=300, min=14.6ms, max=25.2ms + task_specific_sample: mean=257.0ms, total=1.03s, count=4, min=161.1ms, max=370.4ms + task_sampling: mean=349.8ms, total=699.6ms, count=2, min=326.6ms, max=373.0ms + task_sampling_failed: mean=170.4ms, total=340.7ms, count=2, min=163.6ms, max=177.1ms + scene_randomize: mean=1.1ms, total=4.6ms, count=4, min=1.0ms, max=1.7ms + mj_forward_sync: mean=403.7us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:33:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:33:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:33:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:33:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:33:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:33:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:33:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109115m [env.py: 870] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:33:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49465 -1.00058494 -0.10911495] yaw=-57.2deg [env.py: 1019] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44119722 -0.98017842 -0.10911495] yaw=-44.9deg [env.py: 1019] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:33:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.7ms [env.py: 1075] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -1.001, -0.109) [env.py: 1079] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/12 07:33:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:33:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:33:17 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 07:33:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 07:33:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:33:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:33:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:33:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.933s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:33:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.715[m] 81.584[deg] [grasp_sample.py: 539] +05/12 07:33:23 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:33:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:33:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:33:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:33:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:33:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:33:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:33:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133109m [env.py: 870] +05/12 07:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:33:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:33:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=161.6ms, total=161.6ms [env.py: 1105] +05/12 07:33:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:33:25 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:33:26 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:33:26 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/12 07:33:26 INFO: [Worker 0] Worker 0 completed house 1: 15/20 successful episodes [pipeline.py: 1323] +05/12 07:33:26 INFO: [Worker 0] [PROFILE] House 1 complete: 15/20 successful, 20 episodes, total_time=5570.98s + House averages: + episode_total: mean=44.51s, total=3204.97s, count=72, min=163.7ms, max=158915.4ms + sensor_polling: mean=343.3ms, total=1983.36s, count=5777, min=291.6ms, max=1175.6ms + save_trajectories: mean=9.16s, total=137.34s, count=15, min=8214.0ms, max=10678.3ms + physics_step: mean=22.1ms, total=127.56s, count=5777, min=12.9ms, max=146.8ms + save_batch_prep: mean=3.39s, total=50.82s, count=15, min=2804.3ms, max=3907.3ms + task_specific_sample: mean=398.0ms, total=28.66s, count=72, min=161.1ms, max=908.5ms + task_sampling: mean=547.7ms, total=24.10s, count=44, min=326.6ms, max=3120.4ms + task_sampling_failed: mean=266.9ms, total=7.47s, count=28, min=163.6ms, max=768.8ms + scene_load: mean=2.66s, total=2.66s, count=1, min=2657.0ms, max=2657.0ms + scene_env_create: mean=1.39s, total=1.39s, count=1, min=1390.2ms, max=1390.2ms + scene_compile: mean=1.12s, total=1.12s, count=1, min=1123.7ms, max=1123.7ms + compile_mujoco: mean=622.4ms, total=622.4ms, count=1, min=622.4ms, max=622.4ms + compile_xml_load: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms + scene_init: mean=98.9ms, total=98.9ms, count=1, min=98.9ms, max=98.9ms + scene_randomize: mean=1.4ms, total=98.0ms, count=72, min=0.9ms, max=3.0ms + compile_aux_objects: mean=94.2ms, total=94.2ms, count=1, min=94.2ms, max=94.2ms + compile_aux_policy_objects: mean=94.2ms, total=94.2ms, count=1, min=94.2ms, max=94.2ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + mj_forward_sync: mean=428.5us, total=30.9ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + compile_robot_add: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=14.9us, total=0.7ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 07:33:26 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 07:33:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=5570.98s + Worker averages: + episode_total: mean=44.51s, total=3204.97s, count=72, min=163.7ms, max=158915.4ms + sensor_polling: mean=343.3ms, total=1983.36s, count=5777, min=291.6ms, max=1175.6ms + save_trajectories: mean=9.16s, total=137.34s, count=15, min=8214.0ms, max=10678.3ms + physics_step: mean=22.1ms, total=127.56s, count=5777, min=12.9ms, max=146.8ms + save_batch_prep: mean=3.39s, total=50.82s, count=15, min=2804.3ms, max=3907.3ms + task_specific_sample: mean=398.0ms, total=28.66s, count=72, min=161.1ms, max=908.5ms + task_sampling: mean=547.7ms, total=24.10s, count=44, min=326.6ms, max=3120.4ms + task_sampling_failed: mean=266.9ms, total=7.47s, count=28, min=163.6ms, max=768.8ms + scene_load: mean=2.66s, total=2.66s, count=1, min=2657.0ms, max=2657.0ms + scene_env_create: mean=1.39s, total=1.39s, count=1, min=1390.2ms, max=1390.2ms + scene_compile: mean=1.12s, total=1.12s, count=1, min=1123.7ms, max=1123.7ms + compile_mujoco: mean=622.4ms, total=622.4ms, count=1, min=622.4ms, max=622.4ms + compile_xml_load: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms + scene_init: mean=98.9ms, total=98.9ms, count=1, min=98.9ms, max=98.9ms + scene_randomize: mean=1.4ms, total=98.0ms, count=72, min=0.9ms, max=3.0ms + compile_aux_objects: mean=94.2ms, total=94.2ms, count=1, min=94.2ms, max=94.2ms + compile_aux_policy_objects: mean=94.2ms, total=94.2ms, count=1, min=94.2ms, max=94.2ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + mj_forward_sync: mean=428.5us, total=30.9ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms + compile_robot_add: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=14.9us, total=0.7ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 07:33:28 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 07:33:28 INFO: Success count: 15, Total count: 20 [pipeline.py: 1491] +05/12 07:33:28 INFO: Success rate: 75.00% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_013/experiment_config_20260512_073459.pkl b/3drawers/sim_chunks/chunk_013/experiment_config_20260512_073459.pkl new file mode 100644 index 0000000000000000000000000000000000000000..90d5abde2906a6d5a2768c1f3b56050252758b8e --- /dev/null +++ b/3drawers/sim_chunks/chunk_013/experiment_config_20260512_073459.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:059be31e8b1251600cf50cb20e0601d90d1367f6d085b4c9ac2f637fa6f811c2 +size 8146 diff --git a/3drawers/sim_chunks/chunk_013/running_log.log b/3drawers/sim_chunks/chunk_013/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..9691a4b0d4c87301376262d6d86394363f64e101 --- /dev/null +++ b/3drawers/sim_chunks/chunk_013/running_log.log @@ -0,0 +1,14400 @@ +05/12 07:34:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 07:34:59 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 07:34:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 07:34:59 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41301, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 07:34:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 07:34:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 07:34:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 07:34:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 07:34:59 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 07:34:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 07:34:59 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41303, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 07:34:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 07:34:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 07:34:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 07:34:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 07:34:59 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 07:34:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 07:34:59 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41304, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 07:34:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 07:34:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 07:34:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 07:34:59 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 07:34:59 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 07:34:59 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 07:34:59 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41302, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 07:34:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 07:34:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 07:34:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 07:35:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 07:35:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 07:35:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 07:35:00 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 07:35:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 07:35:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 07:35:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 07:35:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 07:35:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 07:35:02 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 07:35:02 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 07:35:02 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 07:35:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:02 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171468m [env.py: 870] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:02 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 07:35:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 07:35:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117021m [env.py: 870] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 07:35:02 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 07:35:02 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 07:35:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165225m [env.py: 870] +05/12 07:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52518401 -0.76531666 -0.11702137] yaw=-57.1deg [env.py: 1019] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62603592 -0.92850783 -0.11702137] yaw=-74.2deg [env.py: 1019] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51066074 -1.06041382 -0.11702137] yaw=-48.4deg [env.py: 1019] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=16.0ms, retries=165.4ms, total=181.4ms [env.py: 1075] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.765, -0.117) [env.py: 1079] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg [env.py: 1082] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35766391 -0.85996793 -0.17146797] yaw=-66.3deg [env.py: 1019] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.7ms, retries=257.7ms, total=274.4ms [env.py: 1075] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -0.860, -0.171) [env.py: 1079] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27401388 -0.96282902 -0.16522477] yaw=-43.8deg [env.py: 1019] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:03 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=69.8ms, retries=466.2ms, total=536.0ms [env.py: 1075] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -0.963, -0.165) [env.py: 1079] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.8 deg [env.py: 1082] +05/12 07:35:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:03 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:03 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 07:35:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 07:35:07 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 07:35:07 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 07:35:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193429m [env.py: 870] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3468474 -1.08057536 -0.19342916] yaw=-37.3deg [env.py: 1019] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23100932 -0.94808741 -0.19342916] yaw=-41.1deg [env.py: 1019] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35812429 -1.11330778 -0.19342916] yaw=-47.5deg [env.py: 1019] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=16.6ms, retries=121.5ms, total=138.1ms [env.py: 1075] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.081, -0.193) [env.py: 1079] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/12 07:35:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:07 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 28.397s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:32 INFO: [Worker 0] Warmed up parallel IK solver in 29.411s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.760s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:35:33 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:35:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.545s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:35:34 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:35:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180760m [env.py: 870] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=157.3ms, total=157.3ms [env.py: 1105] +05/12 07:35:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:35:35 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:35:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181237m [env.py: 870] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:36 INFO: [Worker 0] Warmed up parallel IK solver in 32.233s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36494495 -1.14513926 -0.18123749] yaw=-37.6deg [env.py: 1019] +05/12 07:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.4ms, total=197.4ms [env.py: 1075] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -1.145, -0.181) [env.py: 1079] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg [env.py: 1082] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:36 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172902m [env.py: 870] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.6ms, total=191.6ms [env.py: 1105] +05/12 07:35:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:35:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:35:38 INFO: [Worker 0] Warmed up parallel IK solver in 30.592s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147127m [env.py: 870] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64988425 -0.92086642 -0.14712694] yaw=-72.6deg [env.py: 1019] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.4ms, total=177.5ms [env.py: 1075] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.921, -0.147) [env.py: 1079] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 07:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:38 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:35:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.669[m] 80.781[deg] [grasp_sample.py: 539] +05/12 07:35:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:35:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.074s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:35:39 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.659[m] 72.826[deg] [grasp_sample.py: 539] +05/12 07:35:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:35:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:35:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:35:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:35:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:35:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:35:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:35:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:35:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.643[m] 88.383[deg] [grasp_sample.py: 539] +05/12 07:35:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:35:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:35:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:35:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.626s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:35:43 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.743[m] 86.629[deg] [grasp_sample.py: 539] +05/12 07:35:44 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:35:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137458m [env.py: 870] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.3ms, total=202.3ms [env.py: 1105] +05/12 07:35:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:35:46 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:35:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147536m [env.py: 870] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.7ms, total=192.7ms [env.py: 1105] +05/12 07:35:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:35:47 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:35:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149208m [env.py: 870] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5128969 -0.84821724 -0.14920824] yaw=-72.4deg [env.py: 1019] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.5ms [env.py: 1075] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.848, -0.149) [env.py: 1079] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.4 deg [env.py: 1082] +05/12 07:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:49 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:35:54 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.729[m] 87.033[deg] [grasp_sample.py: 539] +05/12 07:35:55 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:35:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113386m [env.py: 870] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13723417 -1.07991653 -0.11338554] yaw=-36.0deg [env.py: 1019] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33406547 -1.20060329 -0.11338554] yaw=-45.4deg [env.py: 1019] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.8ms, total=202.9ms [env.py: 1075] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.137, -1.080, -0.113) [env.py: 1079] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.0 deg [env.py: 1082] +05/12 07:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:35:56 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 07:35:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:35:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:35:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:35:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:35:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:35:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:35:58 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:35:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:35:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:35:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:35:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:35:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:35:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120689m [env.py: 870] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:35:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42809606 -0.78705889 -0.12068908] yaw=-61.2deg [env.py: 1019] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:35:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms [env.py: 1075] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -0.787, -0.121) [env.py: 1079] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 07:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:00 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:36:01 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167827m [env.py: 870] +05/12 07:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25176191 -0.95397917 -0.167827 ] yaw=-53.8deg [env.py: 1019] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=247.2ms, total=247.2ms [env.py: 1075] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -0.954, -0.168) [env.py: 1079] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 07:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 07:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:03 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:36:04 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:36:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146625m [env.py: 870] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.9ms, total=210.9ms [env.py: 1105] +05/12 07:36:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:36:06 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:36:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:36:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106172m [env.py: 870] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2017618 -0.93993414 -0.10617188] yaw=-53.5deg [env.py: 1019] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.4ms [env.py: 1075] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -0.940, -0.106) [env.py: 1079] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 07:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:08 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.401s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:36:09 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:36:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136402m [env.py: 870] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.8ms, total=219.8ms [env.py: 1105] +05/12 07:36:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:36:11 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:36:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127499m [env.py: 870] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56225272 -0.74749987 -0.12749894] yaw=-66.0deg [env.py: 1019] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.5ms [env.py: 1075] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.747, -0.127) [env.py: 1079] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/12 07:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.277s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:12 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.508[m] 61.166[deg] [grasp_sample.py: 539] +05/12 07:36:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:12 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:14 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:36:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:36:14 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177694m [env.py: 870] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38175749 -1.06555103 -0.17769401] yaw=-45.5deg [env.py: 1019] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165951m [env.py: 870] +05/12 07:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56709555 -1.0205859 -0.17769401] yaw=-67.9deg [env.py: 1019] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=507.1ms, total=507.1ms [env.py: 1075] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -1.066, -0.178) [env.py: 1079] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58144616 -1.02001959 -0.16595148] yaw=-71.2deg [env.py: 1019] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=439.1ms, total=439.1ms [env.py: 1075] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -1.020, -0.166) [env.py: 1079] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.2 deg [env.py: 1082] +05/12 07:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:16 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:16 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.609[m] 96.718[deg] [grasp_sample.py: 539] +05/12 07:36:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.502s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 90.966[deg] [grasp_sample.py: 539] +05/12 07:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:36:19 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163404m [env.py: 870] +05/12 07:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46128719 -1.04928461 -0.16340386] yaw=-48.9deg [env.py: 1019] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.9ms [env.py: 1075] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.461, -1.049, -0.163) [env.py: 1079] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:20 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175158m [env.py: 870] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.58983895 -0.78494054 -0.17515824] yaw=-77.4deg [env.py: 1019] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=198.9ms [env.py: 1075] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.785, -0.175) [env.py: 1079] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.4 deg [env.py: 1082] +05/12 07:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:20 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.445s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.660[m] 81.471[deg] [grasp_sample.py: 539] +05/12 07:36:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:36:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:36:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:36:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:36:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:36:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.391s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.765[m] 95.449[deg] [grasp_sample.py: 539] +05/12 07:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:36:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:36:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163627m [env.py: 870] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08797696 -1.07458667 -0.1636271 ] yaw=-44.4deg [env.py: 1019] +05/12 07:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1075] +05/12 07:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.088, -1.075, -0.164) [env.py: 1079] +05/12 07:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 07:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 07:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:39 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:36:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:36:40 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:36:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191449m [env.py: 870] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.7ms, total=206.8ms [env.py: 1105] +05/12 07:36:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:36:42 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:36:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144527m [env.py: 870] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57821433 -0.88667409 -0.14452734] yaw=-62.9deg [env.py: 1019] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.4ms [env.py: 1075] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.887, -0.145) [env.py: 1079] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 07:36:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:43 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:36:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.425s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.713[m] 80.589[deg] [grasp_sample.py: 539] +05/12 07:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:36:46 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102311m [env.py: 870] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.6ms, total=206.6ms [env.py: 1105] +05/12 07:36:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:36:48 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:36:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102347m [env.py: 870] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.9ms, total=204.0ms [env.py: 1105] +05/12 07:36:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:36:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:36:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146237m [env.py: 870] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.4ms, total=208.5ms [env.py: 1105] +05/12 07:36:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:36:51 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:36:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:36:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176179m [env.py: 870] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29572402 -1.00979228 -0.1761792 ] yaw=-56.0deg [env.py: 1019] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47419184 -1.06186052 -0.1761792 ] yaw=-60.3deg [env.py: 1019] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.0ms, total=201.0ms [env.py: 1075] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.010, -0.176) [env.py: 1079] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 07:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:52 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.904s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.472[m] 53.829[deg] [grasp_sample.py: 539] +05/12 07:36:54 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:36:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141738m [env.py: 870] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.7ms, total=210.7ms [env.py: 1105] +05/12 07:36:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:36:56 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:36:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:36:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:36:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:36:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:36:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:36:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190967m [env.py: 870] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:36:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24185875 -1.01960429 -0.19096709] yaw=-54.4deg [env.py: 1019] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:36:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.2ms, total=193.3ms [env.py: 1075] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.020, -0.191) [env.py: 1079] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 07:36:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:36:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:36:57 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.747[m] 95.831[deg] [grasp_sample.py: 539] +05/12 07:36:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:36:57 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 07:36:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:36:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:36:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:36:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:36:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:36:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:36:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:36:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:37:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.191s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:37:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.735[m] 99.279[deg] [grasp_sample.py: 539] +05/12 07:37:01 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:37:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:37:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:37:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:37:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:37:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:37:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108520m [env.py: 870] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:37:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39438152 -0.81482038 -0.10851979] yaw=-67.3deg [env.py: 1019] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:37:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.9ms, total=273.9ms [env.py: 1075] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.815, -0.109) [env.py: 1079] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 07:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:37:03 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 07:37:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:37:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:37:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:37:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:37:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.338s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:37:04 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:37:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:37:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:37:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:37:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:37:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:37:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178339m [env.py: 870] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:37:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.2ms, total=190.2ms [env.py: 1105] +05/12 07:37:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:37:06 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:37:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:37:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:37:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:37:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:37:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:37:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134436m [env.py: 870] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:37:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28604533 -1.02698066 -0.13443649] yaw=-38.9deg [env.py: 1019] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:37:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1075] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.027, -0.134) [env.py: 1079] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg [env.py: 1082] +05/12 07:37:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:37:07 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 07:37:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:37:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:37:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:37:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:37:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.652s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:37:12 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.724[m] 81.843[deg] [grasp_sample.py: 539] +05/12 07:37:13 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:37:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:37:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:37:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:37:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:37:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:37:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148122m [env.py: 870] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:37:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21970543 -0.98776917 -0.14812207] yaw=-41.8deg [env.py: 1019] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20395502 -1.01014834 -0.14812207] yaw=-37.2deg [env.py: 1019] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:37:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.8ms, total=240.8ms [env.py: 1075] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -0.988, -0.148) [env.py: 1079] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/12 07:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 07:37:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:37:15 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 07:37:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 07:37:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:37:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:37:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:37:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.261s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:37:16 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:37:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:37:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:37:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189607m [env.py: 870] +05/12 07:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29314137 -1.07071721 -0.18960671] yaw=-49.4deg [env.py: 1019] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:37:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.3ms, total=196.3ms [env.py: 1075] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -1.071, -0.190) [env.py: 1079] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/12 07:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 07:37:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:37:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:37:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:37:18 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 07:37:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:37:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:37:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:37:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:37:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.358s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:37:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.684[m] 72.964[deg] [grasp_sample.py: 539] +05/12 07:37:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:37:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:37:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:37:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:37:30 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:37:37 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:37:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:37:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:37:49 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 07:37:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:37:56 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:37:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:37:56 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 07:38:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:38:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:38:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:38:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.27s (batch: 4.17s, save: 9.11s) [pipeline.py: 300] +05/12 07:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:38:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:38:03 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.07s: + episode_total: mean=91.25s, total=182.50s, count=2, min=34730.9ms, max=147769.1ms + sensor_polling: mean=382.5ms, total=102.13s, count=267, min=291.2ms, max=773.2ms + save_trajectories: mean=9.11s, total=9.11s, count=1, min=9105.5ms, max=9105.5ms + physics_step: mean=24.6ms, total=6.56s, count=267, min=14.9ms, max=56.7ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.2ms, max=4167.2ms + task_sampling: mean=2.03s, total=4.07s, count=2, min=432.9ms, max=3634.3ms + scene_load: mean=3.16s, total=3.16s, count=1, min=3163.7ms, max=3163.7ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1793.2ms, max=1793.2ms + scene_compile: mean=1.23s, total=1.23s, count=1, min=1227.1ms, max=1227.1ms + task_specific_sample: mean=449.5ms, total=899.0ms, count=2, min=430.6ms, max=468.5ms + compile_mujoco: mean=895.5ms, total=895.5ms, count=1, min=895.5ms, max=895.5ms + compile_xml_load: mean=247.7ms, total=247.7ms, count=1, min=247.7ms, max=247.7ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + scene_asset_install: mean=45.2ms, total=45.2ms, count=1, min=45.2ms, max=45.2ms + asset_install_grasps: mean=31.3ms, total=31.3ms, count=1, min=31.3ms, max=31.3ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + scene_randomize: mean=1.0ms, total=2.0ms, count=2, min=0.9ms, max=1.1ms + mj_forward_sync: mean=370.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:38:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173130m [env.py: 870] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=235.6ms, total=235.7ms [env.py: 1105] +05/12 07:38:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:05 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145580m [env.py: 870] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35694836 -1.00951945 -0.14557955] yaw=-48.3deg [env.py: 1019] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=207.9ms, total=208.0ms [env.py: 1075] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.010, -0.146) [env.py: 1079] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/12 07:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:06 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:38:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:38:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.34s (batch: 3.41s, save: 8.92s) [pipeline.py: 300] +05/12 07:38:09 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=7.86s: + episode_total: mean=189.79s, total=189.79s, count=1, min=189787.8ms, max=189787.8ms + sensor_polling: mean=408.7ms, total=109.52s, count=268, min=314.7ms, max=657.2ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8923.9ms, max=8923.9ms + task_sampling: mean=7.86s, total=7.86s, count=1, min=7863.1ms, max=7863.1ms + scene_load: mean=7.48s, total=7.48s, count=1, min=7477.1ms, max=7477.1ms + physics_step: mean=24.0ms, total=6.43s, count=268, min=15.2ms, max=74.9ms + scene_compile: mean=6.00s, total=6.00s, count=1, min=5998.2ms, max=5998.2ms + compile_mujoco: mean=5.56s, total=5.56s, count=1, min=5555.2ms, max=5555.2ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3414.2ms, max=3414.2ms + scene_env_create: mean=1.34s, total=1.34s, count=1, min=1335.1ms, max=1335.1ms + task_specific_sample: mean=383.8ms, total=383.8ms, count=1, min=383.8ms, max=383.8ms + compile_xml_load: mean=360.7ms, total=360.7ms, count=1, min=360.7ms, max=360.7ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=46.0ms, total=46.0ms, count=1, min=46.0ms, max=46.0ms + asset_install_grasps: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + scene_randomize: mean=949.5us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=368.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:38:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.563s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:38:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.721[m] 78.202[deg] [grasp_sample.py: 539] +05/12 07:38:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197536m [env.py: 870] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:10 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34049686 -0.9305782 -0.19753569] yaw=-45.1deg [env.py: 1019] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.5ms, total=201.6ms [env.py: 1075] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -0.931, -0.198) [env.py: 1079] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.1 deg [env.py: 1082] +05/12 07:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:11 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141845m [env.py: 870] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.5ms, total=195.5ms [env.py: 1105] +05/12 07:38:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:12 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:38:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123922m [env.py: 870] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.3ms, total=197.4ms [env.py: 1105] +05/12 07:38:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:13 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129059m [env.py: 870] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1276595 -1.09047155 -0.12905877] yaw=-47.8deg [env.py: 1019] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=308.1ms, total=308.1ms [env.py: 1075] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.128, -1.090, -0.129) [env.py: 1079] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/12 07:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.078s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:38:15 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.738[m] 82.943[deg] [grasp_sample.py: 539] +05/12 07:38:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:15 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:38:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.807s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:38:17 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:38:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112300m [env.py: 870] +05/12 07:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.0ms, total=187.0ms [env.py: 1105] +05/12 07:38:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:18 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133297m [env.py: 870] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.9ms, total=194.9ms [env.py: 1105] +05/12 07:38:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:19 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181110m [env.py: 870] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57724744 -0.74713586 -0.18111005] yaw=-67.2deg [env.py: 1019] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10679204 -1.09690446 -0.18111005] yaw=-25.9deg [env.py: 1019] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34049743 -1.07227496 -0.18111005] yaw=-50.4deg [env.py: 1019] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=162.4ms, total=162.4ms [env.py: 1075] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.747, -0.181) [env.py: 1079] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/12 07:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:19 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103555m [env.py: 870] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36945885 -0.8675025 -0.10355475] yaw=-61.8deg [env.py: 1019] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.0ms, total=201.0ms [env.py: 1075] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.369, -0.868, -0.104) [env.py: 1079] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg [env.py: 1082] +05/12 07:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:21 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.632s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:38:21 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:38:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:38:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192068m [env.py: 870] +05/12 07:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.735s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:38:23 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29855302 -1.14151072 -0.19206769] yaw=-53.3deg [env.py: 1019] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.6ms [env.py: 1075] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -1.142, -0.192) [env.py: 1079] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg [env.py: 1082] +05/12 07:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 07:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:23 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149452m [env.py: 870] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=200.5ms, total=200.6ms [env.py: 1105] +05/12 07:38:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:24 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173114m [env.py: 870] +05/12 07:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.2ms, total=216.3ms [env.py: 1105] +05/12 07:38:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:26 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.128s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:38:26 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.644[m] 80.626[deg] [grasp_sample.py: 539] +05/12 07:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:38:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:38:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:38:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112918m [env.py: 870] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=291.9ms, total=292.0ms [env.py: 1105] +05/12 07:38:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:27 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133106m [env.py: 870] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=207.1ms, total=207.1ms [env.py: 1105] +05/12 07:38:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:29 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175671m [env.py: 870] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23068861 -0.91415974 -0.17567087] yaw=-56.2deg [env.py: 1019] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=365.0ms, total=365.1ms [env.py: 1075] +05/12 07:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -0.914, -0.176) [env.py: 1079] +05/12 07:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 07:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 07:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:31 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.302s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:38:32 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:38:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181721m [env.py: 870] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.1ms, total=224.2ms [env.py: 1105] +05/12 07:38:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:38:34 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:38:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:38:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:38:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165424m [env.py: 870] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64144518 -0.96415189 -0.16542379] yaw=-59.5deg [env.py: 1019] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35682129 -1.00976365 -0.16542379] yaw=-57.1deg [env.py: 1019] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.1ms, total=223.2ms [env.py: 1075] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.964, -0.165) [env.py: 1079] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/12 07:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:38:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:38:36 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 07:38:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:38:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:38:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.653[m] 78.702[deg] [grasp_sample.py: 539] +05/12 07:38:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:38:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:38:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:38:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:38:41 INFO: [Worker 0] Object is not in grasp! 0.00112 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:38:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:38:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:38:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:38:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 348 non-colliding grasps [grasp_sample.py: 465] +05/12 07:38:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.431s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:38:43 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.128[m] 4.105[deg] [grasp_sample.py: 539] +05/12 07:38:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:38:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:38:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:38:47 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:38:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:38:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:39:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:39:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:39:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 427 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.131[m] 4.477[deg] [grasp_sample.py: 539] +05/12 07:39:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:39:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:39:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:39:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:39:07 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 07:39:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:39:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:39:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.32s (batch: 3.34s, save: 8.98s) [pipeline.py: 300] +05/12 07:39:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:20 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=9.35s: + episode_total: mean=11.82s, total=236.36s, count=20, min=200.5ms, max=147729.8ms + sensor_polling: mean=352.5ms, total=100.11s, count=284, min=300.4ms, max=609.7ms + task_sampling: mean=778.9ms, total=9.35s, count=12, min=404.6ms, max=4344.1ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8983.0ms, max=8983.0ms + task_specific_sample: mean=374.1ms, total=7.48s, count=20, min=197.6ms, max=811.8ms + physics_step: mean=22.9ms, total=6.49s, count=284, min=19.1ms, max=55.6ms + scene_load: mean=3.53s, total=3.53s, count=1, min=3529.6ms, max=3529.6ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3341.7ms, max=3341.7ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1789.7ms, max=1789.7ms + task_sampling_failed: mean=214.4ms, total=1.71s, count=8, min=200.5ms, max=227.8ms + scene_compile: mean=1.57s, total=1.57s, count=1, min=1574.8ms, max=1574.8ms + compile_mujoco: mean=915.9ms, total=915.9ms, count=1, min=915.9ms, max=915.9ms + compile_xml_load: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + scene_asset_install: mean=68.1ms, total=68.1ms, count=1, min=68.1ms, max=68.1ms + compile_aux_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + compile_aux_policy_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + asset_install_grasps: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + scene_randomize: mean=1.0ms, total=20.7ms, count=20, min=0.9ms, max=1.3ms + asset_install_objects: mean=16.0ms, total=16.0ms, count=1, min=16.0ms, max=16.0ms + mj_forward_sync: mean=406.4us, total=8.1ms, count=20, min=0.4ms, max=0.6ms + asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + policy_setup: mean=17.2us, total=0.2ms, count=12, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141603m [env.py: 870] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.9ms, total=203.0ms [env.py: 1105] +05/12 07:39:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:39:21 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:39:22 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:39:22 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=7.74s: + episode_total: mean=18.99s, total=246.87s, count=13, min=165.1ms, max=124628.6ms + sensor_polling: mean=343.9ms, total=137.22s, count=399, min=297.2ms, max=566.6ms + physics_step: mean=22.1ms, total=8.81s, count=399, min=14.8ms, max=64.7ms + task_sampling: mean=860.3ms, total=7.74s, count=9, min=395.6ms, max=4019.4ms + task_specific_sample: mean=392.0ms, total=5.10s, count=13, min=162.4ms, max=678.4ms + scene_load: mean=3.39s, total=3.39s, count=1, min=3393.3ms, max=3393.3ms + scene_env_create: mean=1.76s, total=1.76s, count=1, min=1764.6ms, max=1764.6ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1482.0ms, max=1482.0ms + compile_mujoco: mean=915.2ms, total=915.2ms, count=1, min=915.2ms, max=915.2ms + task_sampling_failed: mean=195.9ms, total=783.8ms, count=4, min=165.1ms, max=218.9ms + compile_xml_load: mean=480.4ms, total=480.4ms, count=1, min=480.4ms, max=480.4ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + asset_install_grasps: mean=32.3ms, total=32.3ms, count=1, min=32.3ms, max=32.3ms + compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms + scene_randomize: mean=1.4ms, total=18.4ms, count=13, min=0.9ms, max=5.0ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + mj_forward_sync: mean=436.4us, total=5.7ms, count=13, min=0.4ms, max=0.6ms + asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + policy_setup: mean=16.7us, total=0.2ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:39:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168607m [env.py: 870] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.4ms, total=188.5ms [env.py: 1105] +05/12 07:39:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:39:22 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:39:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148070m [env.py: 870] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153065m [env.py: 870] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28440729 -1.0628183 -0.14807021] yaw=-45.2deg [env.py: 1019] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38086253 -0.86065206 -0.14807021] yaw=-64.8deg [env.py: 1019] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.2ms, total=281.2ms [env.py: 1075] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -1.063, -0.148) [env.py: 1079] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg [env.py: 1082] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41334751 -0.90487205 -0.15306509] yaw=-61.7deg [env.py: 1019] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=406.3ms, total=406.4ms [env.py: 1075] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.905, -0.153) [env.py: 1079] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg [env.py: 1082] +05/12 07:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:24 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:24 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.750[m] 75.426[deg] [grasp_sample.py: 539] +05/12 07:39:27 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:39:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:39:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.693s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:28 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.756[m] 76.010[deg] [grasp_sample.py: 539] +05/12 07:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153334m [env.py: 870] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34887811 -0.87835187 -0.15333408] yaw=-63.3deg [env.py: 1019] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6517458 -0.88565299 -0.15333408] yaw=-65.3deg [env.py: 1019] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=587.7ms, total=587.8ms [env.py: 1075] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -0.878, -0.153) [env.py: 1079] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg [env.py: 1082] +05/12 07:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:29 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:39:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:29 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124868m [env.py: 870] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37614155 -1.17109108 -0.12486807] yaw=-36.8deg [env.py: 1019] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08554689 -1.05802387 -0.12486807] yaw=-35.5deg [env.py: 1019] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35258095 -1.10023314 -0.12486807] yaw=-39.0deg [env.py: 1019] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.0ms, total=97.0ms [env.py: 1075] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -1.171, -0.125) [env.py: 1079] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg [env.py: 1082] +05/12 07:39:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:31 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.630s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:39:31 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:39:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.113s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.673[m] 88.526[deg] [grasp_sample.py: 539] +05/12 07:39:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:39:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112066m [env.py: 870] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58647191 -0.86809825 -0.11206585] yaw=-57.0deg [env.py: 1019] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:39:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47240892 -0.76634071 -0.11206585] yaw=-66.6deg [env.py: 1019] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=595.7ms, total=595.7ms [env.py: 1075] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.868, -0.112) [env.py: 1079] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 07:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:33 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:39:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.730[m] 84.012[deg] [grasp_sample.py: 539] +05/12 07:39:36 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:39:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147510m [env.py: 870] +05/12 07:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=401.8ms, total=401.9ms [env.py: 1105] +05/12 07:39:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:39:38 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:39:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199999m [env.py: 870] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23853909 -1.04758475 -0.19999905] yaw=-49.8deg [env.py: 1019] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4559831 -0.9465672 -0.19999905] yaw=-50.5deg [env.py: 1019] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=198.9ms [env.py: 1075] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.239, -1.048, -0.200) [env.py: 1079] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 07:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:39 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.353s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.725[m] 94.010[deg] [grasp_sample.py: 539] +05/12 07:39:42 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:39:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:39:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197499m [env.py: 870] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62125591 -0.80580552 -0.19749937] yaw=-73.5deg [env.py: 1019] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.0ms [env.py: 1075] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.806, -0.197) [env.py: 1079] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg [env.py: 1082] +05/12 07:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:44 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.773s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.714[m] 92.388[deg] [grasp_sample.py: 539] +05/12 07:39:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:47 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:39:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101727m [env.py: 870] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45567959 -0.9256644 -0.10172718] yaw=-52.2deg [env.py: 1019] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.2ms [env.py: 1075] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.926, -0.102) [env.py: 1079] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 07:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:48 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:39:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:39:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:48 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 331 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.359s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:49 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.029[m] 2.976[deg] [grasp_sample.py: 539] +05/12 07:39:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:39:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:39:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.545s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:39:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.784[m] 90.616[deg] [grasp_sample.py: 539] +05/12 07:39:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:39:51 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:39:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:39:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:39:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:39:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:39:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:39:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144396m [env.py: 870] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:39:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.64190667 -0.94932877 -0.14439629] yaw=-75.1deg [env.py: 1019] +05/12 07:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.1ms, total=211.1ms [env.py: 1075] +05/12 07:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.642, -0.949, -0.144) [env.py: 1079] +05/12 07:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg [env.py: 1082] +05/12 07:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 07:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:39:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:39:53 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 07:39:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 07:39:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:39:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:39:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:39:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:40:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.830s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:40:00 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.665[m] 95.312[deg] [grasp_sample.py: 539] +05/12 07:40:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:40:01 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:40:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:40:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:40:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:40:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:40:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:40:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123959m [env.py: 870] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:40:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26826613 -1.04379971 -0.12395894] yaw=-52.4deg [env.py: 1019] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43378717 -0.76044354 -0.12395894] yaw=-51.3deg [env.py: 1019] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:40:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.164s, found 312 non-colliding grasps [grasp_sample.py: 465] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.3ms, total=203.3ms [env.py: 1075] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -1.044, -0.124) [env.py: 1079] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg [env.py: 1082] +05/12 07:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:40:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:40:03 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 07:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 07:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:40:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:40:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.339s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:40:03 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.038[m] 3.129[deg] [grasp_sample.py: 539] +05/12 07:40:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:40:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:40:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:40:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:40:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:40:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.951s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:40:06 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.765[m] 89.049[deg] [grasp_sample.py: 539] +05/12 07:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:40:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:40:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:40:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:40:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:40:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:40:20 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:40:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:40:38 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:40:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:40:38 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 07:40:41 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:40:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:40:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:40:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:40:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:40:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.74s (batch: 3.44s, save: 9.29s) [pipeline.py: 300] +05/12 07:40:52 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.20s: + episode_total: mean=39.42s, total=157.68s, count=4, min=195.6ms, max=149407.6ms + sensor_polling: mean=398.2ms, total=104.72s, count=263, min=318.8ms, max=657.9ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.1ms, max=9292.1ms + physics_step: mean=23.3ms, total=6.13s, count=263, min=14.9ms, max=68.0ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3444.7ms, max=3444.7ms + task_specific_sample: mean=345.8ms, total=1.38s, count=4, min=191.8ms, max=462.6ms + task_sampling: mean=399.6ms, total=1.20s, count=3, min=349.3ms, max=465.5ms + task_sampling_failed: mean=195.6ms, total=195.6ms, count=1, min=195.6ms, max=195.6ms + scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=0.9ms, max=1.7ms + mj_forward_sync: mean=394.7us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=19.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:40:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:40:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:40:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:40:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:40:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:40:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:40:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143304m [env.py: 870] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:40:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=178.8ms, total=178.9ms [env.py: 1105] +05/12 07:40:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:40:53 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:40:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:40:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:40:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:40:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:40:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:40:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:40:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100478m [env.py: 870] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:40:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50084174 -0.74859497 -0.10047757] yaw=-70.8deg [env.py: 1019] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58846328 -0.8020886 -0.10047757] yaw=-74.0deg [env.py: 1019] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:40:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms [env.py: 1075] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -0.749, -0.100) [env.py: 1079] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg [env.py: 1082] +05/12 07:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:40:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:40:55 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 07:40:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 07:40:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:40:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:40:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:40:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.308s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:40:57 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:40:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:40:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:40:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:40:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:40:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:40:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:40:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:40:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:40:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119692m [env.py: 870] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:40:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:40:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.2ms, total=198.3ms [env.py: 1105] +05/12 07:40:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:40:58 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:41:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:41:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:41:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:41:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:41:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:41:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:41:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159392m [env.py: 870] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:41:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1105] +05/12 07:41:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:41:00 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:41:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:41:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:41:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:41:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:41:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:41:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142325m [env.py: 870] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:41:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46743322 -1.08854146 -0.1423251 ] yaw=-48.1deg [env.py: 1019] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:41:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms [env.py: 1075] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -1.089, -0.142) [env.py: 1079] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 07:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:41:01 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 07:41:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 07:41:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:41:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:41:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:41:02 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:41:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:41:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 07:41:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:41:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.467s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:41:07 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.656[m] 82.799[deg] [grasp_sample.py: 539] +05/12 07:41:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:41:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:41:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:41:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:41:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:41:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:41:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:41:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.30s (batch: 3.20s, save: 10.10s) [pipeline.py: 300] +05/12 07:41:16 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.41s: + episode_total: mean=12.46s, total=174.38s, count=14, min=202.8ms, max=161189.4ms + sensor_polling: mean=355.4ms, total=106.62s, count=300, min=298.2ms, max=543.3ms + save_trajectories: mean=10.10s, total=10.10s, count=1, min=10099.4ms, max=10099.4ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=18.4ms, max=51.5ms + task_specific_sample: mean=315.0ms, total=4.41s, count=14, min=199.8ms, max=560.6ms + save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3202.7ms, max=3202.7ms + task_sampling: mean=482.0ms, total=2.41s, count=5, min=431.6ms, max=562.6ms + task_sampling_failed: mean=226.9ms, total=2.04s, count=9, min=202.8ms, max=301.6ms + scene_randomize: mean=1.2ms, total=16.4ms, count=14, min=0.9ms, max=2.5ms + mj_forward_sync: mean=450.0us, total=6.3ms, count=14, min=0.4ms, max=0.6ms + policy_setup: mean=15.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:41:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:41:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:41:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:41:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:41:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:41:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:41:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111293m [env.py: 870] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:41:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=267.9ms, total=268.0ms [env.py: 1105] +05/12 07:41:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:41:18 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:41:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:41:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:41:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:41:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:41:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:41:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125576m [env.py: 870] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:41:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.1ms, total=198.1ms [env.py: 1105] +05/12 07:41:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:41:20 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:41:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:41:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149314m [env.py: 870] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21670757 -1.02719284 -0.14931429] yaw=-54.1deg [env.py: 1019] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29747184 -1.11953186 -0.14931429] yaw=-41.5deg [env.py: 1019] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.2ms [env.py: 1075] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.027, -0.149) [env.py: 1079] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 07:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:41:21 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 07:41:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 07:41:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:41:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:41:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:41:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.317s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:41:24 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 07:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:41:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:41:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:41:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180140m [env.py: 870] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44704487 -1.10254563 -0.18014043] yaw=-53.8deg [env.py: 1019] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:41:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=356.5ms, total=356.5ms [env.py: 1075] +05/12 07:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -1.103, -0.180) [env.py: 1079] +05/12 07:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 07:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 07:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:41:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:41:26 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 07:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:41:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:41:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:41:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:41:27 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:41:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.920s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:41:30 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.606[m] 81.272[deg] [grasp_sample.py: 539] +05/12 07:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:41:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:41:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:41:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:41:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:41:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:41:51 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 07:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:02 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:42:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:42:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.11s (batch: 3.29s, save: 8.82s) [pipeline.py: 300] +05/12 07:42:04 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.96s: + episode_total: mean=39.81s, total=159.24s, count=4, min=196.4ms, max=153190.4ms + sensor_polling: mean=375.4ms, total=102.85s, count=274, min=303.7ms, max=696.1ms + save_trajectories: mean=8.82s, total=8.82s, count=1, min=8817.5ms, max=8817.5ms + physics_step: mean=24.0ms, total=6.57s, count=274, min=19.6ms, max=63.0ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3288.5ms, max=3288.5ms + task_specific_sample: mean=340.2ms, total=1.36s, count=4, min=193.2ms, max=643.2ms + task_sampling: mean=481.9ms, total=963.9ms, count=2, min=318.3ms, max=645.6ms + task_sampling_failed: mean=205.6ms, total=411.2ms, count=2, min=196.4ms, max=214.7ms + scene_randomize: mean=1.5ms, total=6.0ms, count=4, min=1.0ms, max=2.4ms + mj_forward_sync: mean=418.6us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:42:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.183[m] 21.866[deg] [grasp_sample.py: 539] +05/12 07:42:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:42:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:42:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:42:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:42:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:42:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:42:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178806m [env.py: 870] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:42:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.2ms, total=184.3ms [env.py: 1105] +05/12 07:42:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:42:05 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:42:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:42:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:42:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:42:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:42:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:42:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:42:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189465m [env.py: 870] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:42:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64877303 -0.86755634 -0.18946538] yaw=-65.9deg [env.py: 1019] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13568842 -1.04339399 -0.18946538] yaw=-43.8deg [env.py: 1019] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19143833 -1.04667178 -0.18946538] yaw=-38.9deg [env.py: 1019] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:42:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.6ms, total=310.6ms [env.py: 1075] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.868, -0.189) [env.py: 1079] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 07:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:42:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:42:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:42:07 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 07:42:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 07:42:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.659[m] 86.491[deg] [grasp_sample.py: 539] +05/12 07:42:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:42:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:42:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:42:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.176[m] 21.099[deg] [grasp_sample.py: 539] +05/12 07:42:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:42:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:42:23 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 07:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:42:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:42:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.394s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.176[m] 21.100[deg] [grasp_sample.py: 539] +05/12 07:42:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:42:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:42:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:42:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:42:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.82s (batch: 3.40s, save: 10.41s) [pipeline.py: 300] +05/12 07:42:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.334s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.511[m] 62.503[deg] [grasp_sample.py: 539] +05/12 07:42:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:37 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=4.23s: + episode_total: mean=20.32s, total=182.91s, count=9, min=409.9ms, max=154918.3ms + sensor_polling: mean=360.9ms, total=104.30s, count=289, min=296.0ms, max=672.6ms + save_trajectories: mean=10.41s, total=10.41s, count=1, min=10414.5ms, max=10414.5ms + physics_step: mean=23.4ms, total=6.77s, count=289, min=14.9ms, max=146.7ms + task_specific_sample: mean=512.5ms, total=4.61s, count=9, min=390.4ms, max=810.3ms + task_sampling: mean=528.1ms, total=4.23s, count=8, min=392.9ms, max=812.4ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3404.7ms, max=3404.7ms + task_sampling_failed: mean=409.9ms, total=409.9ms, count=1, min=409.9ms, max=409.9ms + scene_randomize: mean=1.1ms, total=9.9ms, count=9, min=0.9ms, max=1.6ms + mj_forward_sync: mean=408.9us, total=3.7ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:42:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:42:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:42:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:42:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:42:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:42:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191117m [env.py: 870] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:42:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3722511 -1.11078195 -0.19111721] yaw=-35.8deg [env.py: 1019] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:42:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=248.0ms, total=248.1ms [env.py: 1075] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -1.111, -0.191) [env.py: 1079] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.8 deg [env.py: 1082] +05/12 07:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:42:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:42:39 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 07:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 07:42:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.560s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.625[m] 80.014[deg] [grasp_sample.py: 539] +05/12 07:42:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:42:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:42 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:42:42 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.92s: + episode_total: mean=20.70s, total=103.48s, count=5, min=190.4ms, max=100927.3ms + sensor_polling: mean=380.4ms, total=55.92s, count=147, min=313.5ms, max=560.5ms + physics_step: mean=21.5ms, total=3.16s, count=147, min=13.0ms, max=94.8ms + task_specific_sample: mean=303.3ms, total=1.52s, count=5, min=184.6ms, max=476.3ms + task_sampling: mean=461.6ms, total=923.2ms, count=2, min=444.8ms, max=478.4ms + task_sampling_failed: mean=203.2ms, total=609.5ms, count=3, min=190.4ms, max=213.1ms + scene_randomize: mean=1.2ms, total=6.2ms, count=5, min=0.9ms, max=2.4ms + mj_forward_sync: mean=373.8us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:42:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:42:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174776m [env.py: 870] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60268747 -0.90013829 -0.17477649] yaw=-58.2deg [env.py: 1019] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44711618 -1.03487623 -0.17477649] yaw=-65.4deg [env.py: 1019] +05/12 07:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=270.8ms, total=270.8ms [env.py: 1075] +05/12 07:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.603, -0.900, -0.175) [env.py: 1079] +05/12 07:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 07:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 07:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:42:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:42:44 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 07:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 07:42:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.577s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.702[m] 91.850[deg] [grasp_sample.py: 539] +05/12 07:42:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:42:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:42:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:42:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:42:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.318s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:42:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.503[m] 61.152[deg] [grasp_sample.py: 539] +05/12 07:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:42:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:42:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:43:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:43:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:43:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:43:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.347s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:43:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.503[m] 61.153[deg] [grasp_sample.py: 539] +05/12 07:43:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:43:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:43:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:43:05 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:43:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:43:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:43:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:43:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:43:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:43:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:43:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:43:16 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:43:16 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=0.54s: + episode_total: mean=34.56s, total=69.13s, count=2, min=195.6ms, max=68933.0ms + sensor_polling: mean=366.5ms, total=27.12s, count=74, min=297.7ms, max=706.0ms + physics_step: mean=20.7ms, total=1.53s, count=74, min=13.1ms, max=38.0ms + task_specific_sample: mean=366.0ms, total=732.1ms, count=2, min=190.0ms, max=542.1ms + task_sampling: mean=544.7ms, total=544.7ms, count=1, min=544.7ms, max=544.7ms + task_sampling_failed: mean=195.6ms, total=195.6ms, count=1, min=195.6ms, max=195.6ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.0ms, max=2.2ms + mj_forward_sync: mean=413.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:43:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:43:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:43:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:43:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:43:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:43:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108256m [env.py: 870] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:43:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36865644 -1.08114585 -0.10825612] yaw=-37.5deg [env.py: 1019] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:43:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.2ms, total=205.3ms [env.py: 1075] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.369, -1.081, -0.108) [env.py: 1079] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 07:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:43:17 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 07:43:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 07:43:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:43:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:43:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:43:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.104s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:43:21 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.746[m] 84.048[deg] [grasp_sample.py: 539] +05/12 07:43:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:43:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:43:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:43:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:43:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:43:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:43:24 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 07:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.143s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:43:25 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.545[m] 67.404[deg] [grasp_sample.py: 539] +05/12 07:43:26 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:43:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:43:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:43:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:43:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:43:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:43:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:43:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118548m [env.py: 870] +05/12 07:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:43:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39632691 -0.97604679 -0.11854829] yaw=-47.1deg [env.py: 1019] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:43:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=472.3ms, total=472.4ms [env.py: 1075] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -0.976, -0.119) [env.py: 1079] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/12 07:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 07:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:43:28 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 07:43:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 07:43:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:43:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:43:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:43:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.577s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:43:33 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.732[m] 84.990[deg] [grasp_sample.py: 539] +05/12 07:43:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:43:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:43:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:43:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:43:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:43:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:43:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:43:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.94s (batch: 3.22s, save: 10.72s) [pipeline.py: 300] +05/12 07:43:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:43:38 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=1.00s: + episode_total: mean=34.15s, total=136.60s, count=4, min=207.9ms, max=133159.0ms + sensor_polling: mean=333.2ms, total=84.97s, count=255, min=298.8ms, max=513.7ms + save_trajectories: mean=10.72s, total=10.72s, count=1, min=10719.9ms, max=10719.9ms + physics_step: mean=21.8ms, total=5.55s, count=255, min=14.6ms, max=34.3ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3222.9ms, max=3222.9ms + task_specific_sample: mean=369.4ms, total=1.48s, count=4, min=204.3ms, max=550.2ms + task_sampling: mean=501.9ms, total=1.00s, count=2, min=451.4ms, max=552.4ms + task_sampling_failed: mean=242.9ms, total=485.8ms, count=2, min=207.9ms, max=277.9ms + scene_randomize: mean=1.3ms, total=5.3ms, count=4, min=0.9ms, max=2.2ms + mj_forward_sync: mean=432.6us, total=1.7ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:43:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:43:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:43:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:43:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:43:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:43:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169090m [env.py: 870] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:43:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=544.1ms, total=544.2ms [env.py: 1105] +05/12 07:43:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:43:40 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:43:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:43:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:43:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:43:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:43:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:43:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188593m [env.py: 870] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:43:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1105] +05/12 07:43:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:43:42 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:43:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124860m [env.py: 870] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30420963 -1.10157842 -0.12486026] yaw=-39.7deg [env.py: 1019] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:43:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=800.1ms, total=800.1ms [env.py: 1075] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.102, -0.125) [env.py: 1079] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg [env.py: 1082] +05/12 07:43:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 07:43:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:43:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:43:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:43:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:43:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:43:44 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 07:43:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 07:43:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:43:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:43:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:43:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.958s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:43:47 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.752[m] 89.028[deg] [grasp_sample.py: 539] +05/12 07:43:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:43:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:43:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:43:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:44:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:44:22 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:44:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:44:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:44:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:44:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:44:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:44:41 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 07:44:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:44:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:44:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:44:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:44:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.12s (batch: 3.59s, save: 8.53s) [pipeline.py: 300] +05/12 07:44:53 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.49s: + episode_total: mean=135.03s, total=135.03s, count=1, min=135025.5ms, max=135025.5ms + sensor_polling: mean=351.1ms, total=92.00s, count=262, min=295.8ms, max=526.5ms + save_trajectories: mean=8.53s, total=8.53s, count=1, min=8526.7ms, max=8526.7ms + physics_step: mean=22.7ms, total=5.95s, count=262, min=15.0ms, max=30.2ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3591.5ms, max=3591.5ms + task_sampling: mean=487.6ms, total=487.6ms, count=1, min=487.6ms, max=487.6ms + task_specific_sample: mean=483.7ms, total=483.7ms, count=1, min=483.7ms, max=483.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=431.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:44:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:44:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:44:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:44:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:44:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:44:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:44:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121951m [env.py: 870] +05/12 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:44:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31444098 -1.03076579 -0.12195129] yaw=-37.6deg [env.py: 1019] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:44:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.031, -0.122) [env.py: 1079] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg [env.py: 1082] +05/12 07:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/12 07:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:44:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:44:55 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 07:44:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 07:44:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:44:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:44:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:44:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:45:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.309s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:45:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.761[m] 91.563[deg] [grasp_sample.py: 539] +05/12 07:45:05 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:45:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:45:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:45:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:45:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:45:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:45:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:45:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:45:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168051m [env.py: 870] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:45:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=169.4ms, total=169.4ms [env.py: 1105] +05/12 07:45:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:45:07 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:45:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:45:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:45:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132091m [env.py: 870] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.0ms, total=197.0ms [env.py: 1105] +05/12 07:45:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:45:09 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:45:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:45:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:45:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:45:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:45:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:45:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:45:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:45:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121548m [env.py: 870] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:45:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30058052 -0.99268051 -0.12154775] yaw=-54.7deg [env.py: 1019] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:45:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.1ms, total=210.1ms [env.py: 1075] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -0.993, -0.122) [env.py: 1079] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg [env.py: 1082] +05/12 07:45:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:45:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:45:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:45:10 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 07:45:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 07:45:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:45:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:45:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:45:14 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:45:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:45:16 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.796[m] 86.526[deg] [grasp_sample.py: 539] +05/12 07:45:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:45:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:45:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:45:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:45:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:45:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:45:36 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 07:45:40 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:45:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:45:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:45:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.78s (batch: 3.37s, save: 9.40s) [pipeline.py: 300] +05/12 07:45:49 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.43s: + episode_total: mean=152.37s, total=152.37s, count=1, min=152370.4ms, max=152370.4ms + sensor_polling: mean=363.0ms, total=103.81s, count=286, min=303.3ms, max=1062.9ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9400.4ms, max=9400.4ms + physics_step: mean=23.3ms, total=6.67s, count=286, min=15.7ms, max=64.3ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.9ms, max=3374.9ms + task_sampling: mean=425.4ms, total=425.4ms, count=1, min=425.4ms, max=425.4ms + task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms + scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=393.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:45:50 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:45:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:45:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:45:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:45:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:45:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:45:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:45:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192598m [env.py: 870] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:45:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54336739 -0.92487921 -0.19259846] yaw=-61.6deg [env.py: 1019] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:45:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=466.5ms, total=466.6ms [env.py: 1075] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -0.925, -0.193) [env.py: 1079] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.6 deg [env.py: 1082] +05/12 07:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:45:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:45:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:45:51 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 07:45:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 07:45:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:45:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:45:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:45:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.810s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:45:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.628[m] 83.474[deg] [grasp_sample.py: 539] +05/12 07:45:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:45:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:45:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:45:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:46:01 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:46:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:46:01 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 07:46:11 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:46:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:46:11 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 07:46:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:46:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:46:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.81s (batch: 3.65s, save: 9.15s) [pipeline.py: 300] +05/12 07:46:14 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.30s: + episode_total: mean=104.61s, total=209.22s, count=2, min=42621.3ms, max=166597.2ms + sensor_polling: mean=406.9ms, total=135.09s, count=332, min=314.2ms, max=757.0ms + save_trajectories: mean=9.15s, total=9.15s, count=1, min=9153.7ms, max=9153.7ms + physics_step: mean=22.8ms, total=7.58s, count=332, min=14.7ms, max=54.6ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3653.1ms, max=3653.1ms + task_sampling: mean=650.3ms, total=1.30s, count=2, min=496.8ms, max=803.7ms + task_specific_sample: mean=647.2ms, total=1.29s, count=2, min=494.3ms, max=800.1ms + scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.2ms, max=1.7ms + mj_forward_sync: mean=448.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=22.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:46:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:46:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:46:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:46:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:46:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:46:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:46:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:46:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:46:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:46:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194875m [env.py: 870] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:46:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22113337 -1.06492641 -0.19487521] yaw=-40.2deg [env.py: 1019] +05/12 07:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:46:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=687.1ms, total=687.1ms [env.py: 1075] +05/12 07:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.065, -0.195) [env.py: 1079] +05/12 07:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/12 07:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 07:46:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:46:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:46:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:46:16 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 07:46:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 07:46:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:46:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:46:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:46:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:46:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:46:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:46:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.30s (batch: 3.38s, save: 9.92s) [pipeline.py: 300] +05/12 07:46:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.213s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:46:24 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.714[m] 84.177[deg] [grasp_sample.py: 539] +05/12 07:46:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:46:25 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=1.15s: + episode_total: mean=54.11s, total=162.33s, count=3, min=209.6ms, max=161562.9ms + sensor_polling: mean=385.2ms, total=111.31s, count=289, min=302.6ms, max=581.2ms + save_trajectories: mean=9.92s, total=9.92s, count=1, min=9924.8ms, max=9924.8ms + physics_step: mean=24.4ms, total=7.04s, count=289, min=18.7ms, max=33.9ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3376.7ms, max=3376.7ms + task_specific_sample: mean=634.1ms, total=1.90s, count=3, min=206.5ms, max=1143.7ms + task_sampling: mean=1.15s, total=1.15s, count=1, min=1145.7ms, max=1145.7ms + task_sampling_failed: mean=383.8ms, total=767.6ms, count=2, min=209.5ms, max=558.1ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=0.9ms, max=2.9ms + mj_forward_sync: mean=441.4us, total=1.3ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:46:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:46:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:46:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:46:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:46:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:46:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:46:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:46:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:46:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173089m [env.py: 870] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:46:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6237901 -0.90604201 -0.17308916] yaw=-72.3deg [env.py: 1019] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41807367 -0.82012251 -0.17308916] yaw=-57.4deg [env.py: 1019] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:46:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=253.9ms, total=254.0ms [env.py: 1075] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.906, -0.173) [env.py: 1079] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.3 deg [env.py: 1082] +05/12 07:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:46:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:46:27 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 07:46:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 07:46:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:46:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:46:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:46:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:46:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.677s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:46:27 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.697[m] 85.477[deg] [grasp_sample.py: 539] +05/12 07:46:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:46:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:46:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:46:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:46:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:46:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:46:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:46:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:46:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:46:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:46:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:47:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.590s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:00 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.534[m] 61.730[deg] [grasp_sample.py: 539] +05/12 07:47:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:47:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:47:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:08 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:47:08 INFO: [Worker 0] Object is not in grasp! 0.00141 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:47:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:47:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 351 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:11 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.119[m] 5.655[deg] [grasp_sample.py: 539] +05/12 07:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:47:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:47:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:47:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:13 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:47:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141493m [env.py: 870] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25312958 -1.15872525 -0.14149344] yaw=-31.6deg [env.py: 1019] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms [env.py: 1075] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -1.159, -0.141) [env.py: 1079] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.6 deg [env.py: 1082] +05/12 07:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.888s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.511[m] 58.460[deg] [grasp_sample.py: 539] +05/12 07:47:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:14 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:16 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:47:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148252m [env.py: 870] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20236411 -1.04382486 -0.1482519 ] yaw=-48.1deg [env.py: 1019] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54605597 -0.72739082 -0.1482519 ] yaw=-76.8deg [env.py: 1019] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms [env.py: 1075] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.044, -0.148) [env.py: 1079] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 07:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:18 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.925s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.697[m] 82.207[deg] [grasp_sample.py: 539] +05/12 07:47:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.462s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:47:19 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:47:20 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164679m [env.py: 870] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39487973 -1.12907837 -0.164679 ] yaw=-43.3deg [env.py: 1019] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.7ms, total=230.8ms [env.py: 1075] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.129, -0.165) [env.py: 1079] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:21 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120406m [env.py: 870] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41959327 -0.98025828 -0.12040613] yaw=-52.7deg [env.py: 1019] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=242.9ms, total=243.0ms [env.py: 1075] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.980, -0.120) [env.py: 1079] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 07:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:22 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.602[m] 84.588[deg] [grasp_sample.py: 539] +05/12 07:47:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:47:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:47:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:47:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.823s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.723[m] 84.289[deg] [grasp_sample.py: 539] +05/12 07:47:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:47:25 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:47:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:47:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153003m [env.py: 870] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=235.5ms, total=235.5ms [env.py: 1105] +05/12 07:47:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:47:26 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:47:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100282m [env.py: 870] +05/12 07:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49229878 -1.07105953 -0.10028151] yaw=-54.6deg [env.py: 1019] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42196088 -0.9790589 -0.10028151] yaw=-52.2deg [env.py: 1019] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47111837 -0.78791723 -0.10028151] yaw=-70.6deg [env.py: 1019] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.2ms, total=164.3ms [env.py: 1075] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -1.071, -0.100) [env.py: 1079] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 07:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 07:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:28 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:47:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:47:30 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 07:47:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.597s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.698[m] 74.503[deg] [grasp_sample.py: 539] +05/12 07:47:32 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:47:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180513m [env.py: 870] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=228.1ms, total=228.2ms [env.py: 1105] +05/12 07:47:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:47:33 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:47:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144872m [env.py: 870] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.9ms, total=212.9ms [env.py: 1105] +05/12 07:47:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:47:35 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:47:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100673m [env.py: 870] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45664793 -1.01598844 -0.10067302] yaw=-45.5deg [env.py: 1019] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.7ms, total=262.7ms [env.py: 1075] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -1.016, -0.101) [env.py: 1079] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 07:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:37 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:47:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.737[m] 83.210[deg] [grasp_sample.py: 539] +05/12 07:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:47:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:47:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:47:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:47:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:47:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:47:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.08s (batch: 3.33s, save: 11.74s) [pipeline.py: 300] +05/12 07:47:46 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.89s: + episode_total: mean=41.77s, total=167.06s, count=4, min=177.5ms, max=155640.9ms + sensor_polling: mean=339.8ms, total=99.91s, count=294, min=299.9ms, max=629.0ms + save_trajectories: mean=11.74s, total=11.74s, count=1, min=11743.5ms, max=11743.5ms + physics_step: mean=22.5ms, total=6.61s, count=294, min=14.7ms, max=34.5ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3332.6ms, max=3332.6ms + task_specific_sample: mean=315.2ms, total=1.26s, count=4, min=174.1ms, max=457.6ms + task_sampling: mean=444.7ms, total=889.4ms, count=2, min=429.7ms, max=459.7ms + task_sampling_failed: mean=191.2ms, total=382.5ms, count=2, min=177.5ms, max=205.0ms + scene_randomize: mean=1.2ms, total=4.7ms, count=4, min=0.9ms, max=1.7ms + mj_forward_sync: mean=397.4us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136888m [env.py: 870] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48035194 -0.93896525 -0.13688836] yaw=-49.5deg [env.py: 1019] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=280.4ms, total=280.5ms [env.py: 1075] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.939, -0.137) [env.py: 1079] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 07:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:48 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.462s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.746[m] 91.164[deg] [grasp_sample.py: 539] +05/12 07:47:50 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:47:50 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 07:47:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:47:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:47:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:47:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:47:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:47:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:47:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149828m [env.py: 870] +05/12 07:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:47:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48703158 -1.07319192 -0.14982762] yaw=-65.4deg [env.py: 1019] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:47:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=449.2ms, total=449.2ms [env.py: 1075] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -1.073, -0.150) [env.py: 1079] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 07:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 07:47:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:47:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:47:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:47:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:47:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:47:52 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 07:47:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:47:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:47:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:47:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:47:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.805s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:47:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.591[m] 90.503[deg] [grasp_sample.py: 539] +05/12 07:47:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:47:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:47:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:47:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:48:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:48:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:48:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:48:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:48:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:48:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.911s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:48:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.414[m] 59.338[deg] [grasp_sample.py: 539] +05/12 07:48:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:48:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:48:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:27 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:48:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:48:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:48:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:48:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.171[m] 15.049[deg] [grasp_sample.py: 539] +05/12 07:48:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:48:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:48:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:48:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:48:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:48:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:48:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:48:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.414[m] 59.339[deg] [grasp_sample.py: 539] +05/12 07:48:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:48:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:48:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:48:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:48:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:48:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:48:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:48:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:48:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.171[m] 15.047[deg] [grasp_sample.py: 539] +05/12 07:48:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:48:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:48:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:48:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:48:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:48:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:48:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:48:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:49 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:48:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:48:49 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 07:48:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.033s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:48:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.414[m] 59.339[deg] [grasp_sample.py: 539] +05/12 07:48:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:48:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:48:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:48:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:48:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:48:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.171[m] 15.047[deg] [grasp_sample.py: 539] +05/12 07:48:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:48:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:48:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:48:59 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:49:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:49:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:49:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:49:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 3.39s, save: 9.12s) [pipeline.py: 300] +05/12 07:49:02 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:49:02 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=1.22s: + episode_total: mean=36.90s, total=73.80s, count=2, min=3246.1ms, max=70552.4ms + sensor_polling: mean=334.3ms, total=25.74s, count=77, min=309.0ms, max=512.8ms + physics_step: mean=18.4ms, total=1.42s, count=77, min=13.4ms, max=21.7ms + task_sampling: mean=612.0ms, total=1.22s, count=2, min=537.0ms, max=687.0ms + task_specific_sample: mean=608.3ms, total=1.22s, count=2, min=532.5ms, max=684.1ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.0ms, max=2.8ms + mj_forward_sync: mean=544.8us, total=1.1ms, count=2, min=0.4ms, max=0.7ms + policy_setup: mean=13.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:02 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.93s: + episode_total: mean=167.18s, total=167.18s, count=1, min=167178.5ms, max=167178.5ms + sensor_polling: mean=407.4ms, total=113.27s, count=278, min=317.9ms, max=621.2ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9118.6ms, max=9118.6ms + physics_step: mean=24.2ms, total=6.72s, count=278, min=14.8ms, max=54.8ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3386.5ms, max=3386.5ms + task_sampling: mean=929.1ms, total=929.1ms, count=1, min=929.1ms, max=929.1ms + task_specific_sample: mean=925.7ms, total=925.7ms, count=1, min=925.7ms, max=925.7ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=427.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:49:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112667m [env.py: 870] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.7ms, total=201.7ms [env.py: 1105] +05/12 07:49:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:49:03 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164659m [env.py: 870] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39879836 -0.96060334 -0.16465877] yaw=-55.0deg [env.py: 1019] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=297.2ms, total=297.3ms [env.py: 1075] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -0.961, -0.165) [env.py: 1079] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 07:49:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:04 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140086m [env.py: 870] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14258332 -1.11457559 -0.140086 ] yaw=-30.5deg [env.py: 1019] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30581333 -0.95775157 -0.140086 ] yaw=-49.4deg [env.py: 1019] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=202.8ms, total=202.8ms [env.py: 1075] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.115, -0.140) [env.py: 1079] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.5 deg [env.py: 1082] +05/12 07:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:05 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:49:07 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:49:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118909m [env.py: 870] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:49:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.7ms, total=231.8ms [env.py: 1105] +05/12 07:49:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:49:08 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:49:09 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:49:09 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=2.48s: + episode_total: mean=23.56s, total=188.50s, count=8, min=221.4ms, max=92372.1ms + sensor_polling: mean=346.5ms, total=116.79s, count=337, min=289.3ms, max=638.6ms + physics_step: mean=21.6ms, total=7.26s, count=337, min=13.2ms, max=31.1ms + task_specific_sample: mean=394.4ms, total=3.16s, count=8, min=218.0ms, max=711.6ms + task_sampling: mean=495.4ms, total=2.48s, count=5, min=367.0ms, max=715.2ms + task_sampling_failed: mean=234.1ms, total=702.4ms, count=3, min=221.4ms, max=244.5ms + scene_randomize: mean=1.3ms, total=10.1ms, count=8, min=1.0ms, max=2.3ms + mj_forward_sync: mean=405.2us, total=3.2ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:49:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.136s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:10 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.681[m] 89.494[deg] [grasp_sample.py: 539] +05/12 07:49:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:49:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134769m [env.py: 870] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45017327 -0.95224568 -0.13476911] yaw=-62.4deg [env.py: 1019] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120121m [env.py: 870] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=341.0ms, total=341.0ms [env.py: 1075] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -0.952, -0.135) [env.py: 1079] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08708227 -1.08242793 -0.12012102] yaw=-47.9deg [env.py: 1019] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:49:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=326.4ms, total=326.4ms [env.py: 1075] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.087, -1.082, -0.120) [env.py: 1079] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 07:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:10 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:11 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.130s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.699[m] 95.121[deg] [grasp_sample.py: 539] +05/12 07:49:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.046s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:49:13 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:49:14 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:49:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174619m [env.py: 870] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1105] +05/12 07:49:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:49:14 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114519m [env.py: 870] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3932969 -1.13122964 -0.11451873] yaw=-52.2deg [env.py: 1019] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -1.131, -0.115) [env.py: 1079] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 07:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:15 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153495m [env.py: 870] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=242.3ms, total=242.3ms [env.py: 1105] +05/12 07:49:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:49:16 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:49:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148866m [env.py: 870] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=270.8ms, total=270.9ms [env.py: 1105] +05/12 07:49:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:49:17 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:49:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.110s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.679[m] 85.494[deg] [grasp_sample.py: 539] +05/12 07:49:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157814m [env.py: 870] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:49:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:49:19 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54780325 -0.83568472 -0.15781372] yaw=-72.6deg [env.py: 1019] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=576.0ms, total=576.1ms [env.py: 1075] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -0.836, -0.158) [env.py: 1079] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 07:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:20 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:49:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:49:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:49:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:49:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:49:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.64s (batch: 3.56s, save: 8.09s) [pipeline.py: 300] +05/12 07:49:31 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=1.38s: + episode_total: mean=60.76s, total=182.28s, count=3, min=2014.0ms, max=130555.6ms + sensor_polling: mean=346.2ms, total=109.04s, count=315, min=303.5ms, max=632.8ms + save_trajectories: mean=8.09s, total=8.09s, count=1, min=8088.8ms, max=8088.8ms + physics_step: mean=22.4ms, total=7.06s, count=315, min=14.9ms, max=85.1ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3555.4ms, max=3555.4ms + task_sampling: mean=460.2ms, total=1.38s, count=3, min=391.1ms, max=533.0ms + task_specific_sample: mean=456.8ms, total=1.37s, count=3, min=388.1ms, max=529.3ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.4ms + mj_forward_sync: mean=390.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:49:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125949m [env.py: 870] +05/12 07:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34196226 -1.04823709 -0.12594938] yaw=-41.3deg [env.py: 1019] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=291.2ms, total=291.2ms [env.py: 1075] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.048, -0.126) [env.py: 1079] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.3 deg [env.py: 1082] +05/12 07:49:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 07:49:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:33 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.397s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.718[m] 78.767[deg] [grasp_sample.py: 539] +05/12 07:49:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:49:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.875s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.746[m] 98.369[deg] [grasp_sample.py: 539] +05/12 07:49:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:49:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:49:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:49:36 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:49:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152971m [env.py: 870] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55656802 -0.92672808 -0.15297149] yaw=-59.7deg [env.py: 1019] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27739976 -0.95874212 -0.15297149] yaw=-40.0deg [env.py: 1019] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.1ms, total=224.1ms [env.py: 1075] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.927, -0.153) [env.py: 1079] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 07:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:37 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.499s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:40 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.678[m] 91.457[deg] [grasp_sample.py: 539] +05/12 07:49:41 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:49:41 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 07:49:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140210m [env.py: 870] +05/12 07:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=236.1ms, total=236.2ms [env.py: 1105] +05/12 07:49:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:49:43 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116694m [env.py: 870] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19508404 -1.03712039 -0.11669432] yaw=-51.0deg [env.py: 1019] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56447267 -0.89839902 -0.11669432] yaw=-71.8deg [env.py: 1019] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63258039 -0.99241135 -0.11669432] yaw=-69.1deg [env.py: 1019] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=421.5ms, total=421.6ms [env.py: 1075] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -1.037, -0.117) [env.py: 1079] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 07:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:45 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.324s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:49:46 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:49:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102660m [env.py: 870] +05/12 07:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64408219 -0.98078742 -0.10265969] yaw=-74.4deg [env.py: 1019] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.3ms [env.py: 1075] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.644, -0.981, -0.103) [env.py: 1079] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.4 deg [env.py: 1082] +05/12 07:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 07:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:48 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.668s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:51 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.665[m] 90.872[deg] [grasp_sample.py: 539] +05/12 07:49:52 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101434m [env.py: 870] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=276.1ms, total=276.2ms [env.py: 1105] +05/12 07:49:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:49:53 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:49:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:49:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:49:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:49:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:49:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:49:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180551m [env.py: 870] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:49:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37761006 -0.91322208 -0.18055074] yaw=-44.8deg [env.py: 1019] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:49:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms [env.py: 1075] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -0.913, -0.181) [env.py: 1079] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/12 07:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:49:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:49:55 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 07:49:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 07:49:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:49:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:49:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:49:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:49:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.627s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:49:59 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.709[m] 83.524[deg] [grasp_sample.py: 539] +05/12 07:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:50:00 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:50:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145001m [env.py: 870] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.6ms, total=206.6ms [env.py: 1105] +05/12 07:50:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:50:02 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:50:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121844m [env.py: 870] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16519117 -1.11662411 -0.12184361] yaw=-32.9deg [env.py: 1019] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:50:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=200.0ms [env.py: 1075] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -1.117, -0.122) [env.py: 1079] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.9 deg [env.py: 1082] +05/12 07:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:50:03 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 07:50:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:50:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:50:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:50:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:50:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:50:06 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 07:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124343m [env.py: 870] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60475877 -0.77053562 -0.12434277] yaw=-64.3deg [env.py: 1019] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:50:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.0ms, total=209.1ms [env.py: 1075] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.771, -0.124) [env.py: 1079] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg [env.py: 1082] +05/12 07:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:50:07 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 07:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 07:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:50:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:50:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:50:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.273s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:50:09 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:50:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178610m [env.py: 870] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36111836 -0.90509727 -0.17861013] yaw=-61.2deg [env.py: 1019] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39304278 -1.05173258 -0.17861013] yaw=-56.3deg [env.py: 1019] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:50:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=305.3ms, total=305.4ms [env.py: 1075] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.905, -0.179) [env.py: 1079] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 07:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:50:11 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 07:50:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 07:50:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:50:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:50:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:50:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:50:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.243s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:50:23 INFO: [Worker 0] Feasible grasp found 397 (originally 397): w/ 0.767[m] 89.545[deg] [grasp_sample.py: 539] +05/12 07:50:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:24 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:50:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195212m [env.py: 870] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36664171 -1.03370603 -0.19521182] yaw=-45.7deg [env.py: 1019] +05/12 07:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=249.3ms, total=249.3ms [env.py: 1075] +05/12 07:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -1.034, -0.195) [env.py: 1079] +05/12 07:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/12 07:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 07:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:50:26 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 07:50:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 07:50:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:50:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:50:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:50:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:50:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:50:30 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.652[m] 81.523[deg] [grasp_sample.py: 539] +05/12 07:50:31 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:50:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102516m [env.py: 870] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.3ms, total=205.3ms [env.py: 1105] +05/12 07:50:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:50:32 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:50:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136574m [env.py: 870] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.4ms, total=216.4ms [env.py: 1105] +05/12 07:50:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:50:34 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:50:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:50:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:50:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:50:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:50:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:50:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133993m [env.py: 870] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:50:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29696888 -1.05313131 -0.133993 ] yaw=-46.5deg [env.py: 1019] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:50:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.8ms, total=201.9ms [env.py: 1075] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.053, -0.134) [env.py: 1079] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 07:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:50:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:50:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:50:35 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 07:50:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:50:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:50:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:50:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:50:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:50:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.534s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:50:41 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.721[m] 82.318[deg] [grasp_sample.py: 539] +05/12 07:50:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:50:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:50:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:50:42 INFO: [Worker 0] Object is not in grasp! 0.00137 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:50:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:50:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:50:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:50:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 403 non-colliding grasps [grasp_sample.py: 465] +05/12 07:50:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.374s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:50:43 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.072[m] 9.510[deg] [grasp_sample.py: 539] +05/12 07:50:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:50:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:50:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:50:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:51:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:51:03 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:51:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:51:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:51:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:51:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.187s, found 256 non-colliding grasps [grasp_sample.py: 465] +05/12 07:51:03 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:51:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.719s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:51:05 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.057[m] 0.654[deg] [grasp_sample.py: 539] +05/12 07:51:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:51:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:51:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:51:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:51:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:51:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:51:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:51:23 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 07:51:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:51:29 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:51:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:51:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:51:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:51:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.27s (batch: 3.56s, save: 8.70s) [pipeline.py: 300] +05/12 07:51:36 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=1.50s: + episode_total: mean=29.52s, total=147.61s, count=5, min=213.2ms, max=141104.6ms + sensor_polling: mean=344.9ms, total=93.47s, count=271, min=288.7ms, max=657.6ms + save_trajectories: mean=8.70s, total=8.70s, count=1, min=8704.1ms, max=8704.1ms + physics_step: mean=23.0ms, total=6.23s, count=271, min=19.7ms, max=59.3ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3562.2ms, max=3562.2ms + task_specific_sample: mean=387.7ms, total=1.94s, count=5, min=207.1ms, max=624.5ms + task_sampling: mean=500.6ms, total=1.50s, count=3, min=436.8ms, max=626.8ms + task_sampling_failed: mean=226.8ms, total=453.5ms, count=2, min=213.1ms, max=240.4ms + scene_randomize: mean=1.1ms, total=5.4ms, count=5, min=1.0ms, max=1.2ms + mj_forward_sync: mean=445.2us, total=2.2ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=11.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:51:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:51:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:51:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:51:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:51:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:51:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:51:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:51:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:51:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148661m [env.py: 870] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:51:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34986377 -1.18640129 -0.14866074] yaw=-40.6deg [env.py: 1019] +05/12 07:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:51:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.7ms, total=216.7ms [env.py: 1075] +05/12 07:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.186, -0.149) [env.py: 1079] +05/12 07:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 07:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 07:51:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:51:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:51:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:51:38 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 07:51:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 07:51:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:51:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:51:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:51:39 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:51:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:51:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.623[m] 86.143[deg] [grasp_sample.py: 539] +05/12 07:51:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:51:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:51:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:51:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:51:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:51:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:51:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:51:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:51:52 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 07:52:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:52:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:52:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 07:52:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:52:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:52:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.50s (batch: 3.41s, save: 9.09s) [pipeline.py: 300] +05/12 07:52:05 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.54s: + episode_total: mean=152.65s, total=152.65s, count=1, min=152652.5ms, max=152652.5ms + sensor_polling: mean=376.7ms, total=105.10s, count=279, min=306.0ms, max=597.6ms + save_trajectories: mean=9.09s, total=9.09s, count=1, min=9086.9ms, max=9086.9ms + physics_step: mean=23.7ms, total=6.62s, count=279, min=14.7ms, max=50.6ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3409.8ms, max=3409.8ms + task_sampling: mean=536.9ms, total=536.9ms, count=1, min=536.9ms, max=536.9ms + task_specific_sample: mean=533.3ms, total=533.3ms, count=1, min=533.3ms, max=533.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=423.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:52:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167380m [env.py: 870] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28722451 -1.08365138 -0.16738018] yaw=-35.6deg [env.py: 1019] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32322266 -1.08455939 -0.16738018] yaw=-52.1deg [env.py: 1019] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5713838 -0.8397362 -0.16738018] yaw=-59.4deg [env.py: 1019] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:52:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.2ms [env.py: 1075] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -1.084, -0.167) [env.py: 1079] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg [env.py: 1082] +05/12 07:52:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:52:07 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 07:52:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 07:52:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:52:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:52:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:52:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.354s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:52:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.670[m] 86.337[deg] [grasp_sample.py: 539] +05/12 07:52:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:52:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:52:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:52:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:52:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:52:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.52s (batch: 3.56s, save: 9.97s) [pipeline.py: 300] +05/12 07:52:15 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s: + episode_total: mean=191.16s, total=191.16s, count=1, min=191161.0ms, max=191161.0ms + sensor_polling: mean=420.6ms, total=126.18s, count=300, min=330.7ms, max=732.1ms + save_trajectories: mean=9.97s, total=9.97s, count=1, min=9966.4ms, max=9966.4ms + physics_step: mean=24.1ms, total=7.23s, count=300, min=14.7ms, max=46.3ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3557.7ms, max=3557.7ms + task_sampling: mean=527.4ms, total=527.4ms, count=1, min=527.4ms, max=527.4ms + task_specific_sample: mean=523.9ms, total=523.9ms, count=1, min=523.9ms, max=523.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:52:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106813m [env.py: 870] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27291889 -0.92529177 -0.10681345] yaw=-38.7deg [env.py: 1019] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45001448 -1.02942357 -0.10681345] yaw=-46.7deg [env.py: 1019] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=236.3ms, total=236.4ms [env.py: 1075] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -0.925, -0.107) [env.py: 1079] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg [env.py: 1082] +05/12 07:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:52:17 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 07:52:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 07:52:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:52:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:52:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:52:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:52:18 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122364m [env.py: 870] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17872018 -1.00995077 -0.12236447] yaw=-39.4deg [env.py: 1019] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.2ms, total=231.3ms [env.py: 1075] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -1.010, -0.122) [env.py: 1079] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg [env.py: 1082] +05/12 07:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:52:20 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 07:52:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:52:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:52:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:52:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:52:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.355s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:52:22 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:52:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146216m [env.py: 870] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27797842 -1.20152153 -0.14621559] yaw=-40.3deg [env.py: 1019] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:52:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.3ms, total=216.3ms [env.py: 1075] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.202, -0.146) [env.py: 1079] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/12 07:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:52:23 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 07:52:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:52:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:52:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:52:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:52:25 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:52:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.439s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:52:26 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.658[m] 85.274[deg] [grasp_sample.py: 539] +05/12 07:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:52:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:52:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:52:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106280m [env.py: 870] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32246894 -1.20640504 -0.10627977] yaw=-40.7deg [env.py: 1019] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26734257 -1.08791673 -0.10627977] yaw=-41.3deg [env.py: 1019] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:52:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.0ms, total=219.1ms [env.py: 1075] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.206, -0.106) [env.py: 1079] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 07:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:52:29 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 07:52:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:52:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:52:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:52:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:52:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.410s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:52:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.690[m] 92.488[deg] [grasp_sample.py: 539] +05/12 07:52:32 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:52:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140075m [env.py: 870] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.4ms, total=197.5ms [env.py: 1105] +05/12 07:52:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:52:33 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102409m [env.py: 870] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63536488 -0.91088395 -0.10240885] yaw=-58.2deg [env.py: 1019] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41277224 -0.96615434 -0.10240885] yaw=-53.5deg [env.py: 1019] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:52:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.5ms [env.py: 1075] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.635, -0.911, -0.102) [env.py: 1079] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 07:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 07:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:52:35 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 07:52:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:52:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:52:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:52:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:52:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.734[m] 82.712[deg] [grasp_sample.py: 539] +05/12 07:52:38 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:52:38 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 07:52:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167035m [env.py: 870] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.1ms, total=196.2ms [env.py: 1105] +05/12 07:52:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:52:39 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:52:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:52:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199654m [env.py: 870] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48038692 -0.88013688 -0.19965428] yaw=-52.3deg [env.py: 1019] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.9ms, total=217.9ms [env.py: 1075] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.880, -0.200) [env.py: 1079] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 07:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:52:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:52:41 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 07:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 07:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:52:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:52:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:52:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:52:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.689[m] 83.507[deg] [grasp_sample.py: 539] +05/12 07:52:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:52:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:52:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:52:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:52:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:52:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:52:45 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 07:52:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:52:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:52:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:52:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:52:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:52:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:52:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.36s (batch: 3.61s, save: 9.75s) [pipeline.py: 300] +05/12 07:52:59 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=5.73s: + episode_total: mean=10.81s, total=205.47s, count=19, min=213.9ms, max=143773.4ms + sensor_polling: mean=344.1ms, total=95.65s, count=278, min=301.2ms, max=675.7ms + save_trajectories: mean=9.75s, total=9.75s, count=1, min=9746.3ms, max=9746.3ms + task_specific_sample: mean=400.3ms, total=7.61s, count=19, min=210.2ms, max=804.0ms + physics_step: mean=22.4ms, total=6.22s, count=278, min=14.5ms, max=53.0ms + task_sampling: mean=521.2ms, total=5.73s, count=11, min=410.9ms, max=806.1ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3611.8ms, max=3611.8ms + task_sampling_failed: mean=240.6ms, total=1.92s, count=8, min=213.9ms, max=284.3ms + scene_randomize: mean=1.1ms, total=21.8ms, count=19, min=0.9ms, max=2.2ms + mj_forward_sync: mean=453.3us, total=8.6ms, count=19, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.2ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:53:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:53:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:53:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:53:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:53:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114784m [env.py: 870] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.5ms, total=203.5ms [env.py: 1105] +05/12 07:53:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:53:00 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:53:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:53:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:53:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:53:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:53:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:53:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:53:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140965m [env.py: 870] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:53:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60027697 -0.77630997 -0.14096513] yaw=-70.8deg [env.py: 1019] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:53:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.1ms [env.py: 1075] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.776, -0.141) [env.py: 1079] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg [env.py: 1082] +05/12 07:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:53:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:53:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:53:02 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 07:53:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 07:53:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:53:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:53:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:09 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.124[m] 5.082[deg] [grasp_sample.py: 539] +05/12 07:53:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:53:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:53:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.431s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:12 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.766[m] 97.790[deg] [grasp_sample.py: 539] +05/12 07:53:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:53:13 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:53:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:53:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:53:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:53:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:53:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:53:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:53:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116853m [env.py: 870] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:53:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30082504 -1.08071133 -0.11685304] yaw=-35.3deg [env.py: 1019] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:53:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms [env.py: 1075] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -1.081, -0.117) [env.py: 1079] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 07:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:53:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:53:15 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 07:53:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 07:53:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.443s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.768[m] 84.307[deg] [grasp_sample.py: 539] +05/12 07:53:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:53:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:53:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:53:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:26 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:53:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:53:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 339 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:27 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.053[m] 8.278[deg] [grasp_sample.py: 539] +05/12 07:53:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:53:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:53:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:53:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:53:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:53:39 INFO: [Worker 0] Object is not in grasp! 0.00118 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:53:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:53:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.319s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:39 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.669[deg] [grasp_sample.py: 539] +05/12 07:53:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:53:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:53:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:53:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:53:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:53:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.492s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.091[m] 15.891[deg] [grasp_sample.py: 539] +05/12 07:53:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:53:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:53:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:53:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:53 INFO: [Worker 0] Object is not in grasp! 0.00131 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:53:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:53:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:53:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:53:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:53:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:54 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.064[m] 10.785[deg] [grasp_sample.py: 539] +05/12 07:53:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:53:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.140[m] 5.110[deg] [grasp_sample.py: 539] +05/12 07:53:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:53:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:53:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:53:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:53:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:54:01 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:54:01 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=0.47s: + episode_total: mean=143.31s, total=143.31s, count=1, min=143314.0ms, max=143314.0ms + sensor_polling: mean=408.3ms, total=122.50s, count=300, min=309.4ms, max=675.2ms + physics_step: mean=25.7ms, total=7.70s, count=300, min=19.3ms, max=100.0ms + task_sampling: mean=467.6ms, total=467.6ms, count=1, min=467.6ms, max=467.6ms + task_specific_sample: mean=464.1ms, total=464.1ms, count=1, min=464.1ms, max=464.1ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=441.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:54:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:54:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:54:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182772m [env.py: 870] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59225121 -1.01529779 -0.18277212] yaw=-55.6deg [env.py: 1019] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.0ms, total=238.0ms [env.py: 1075] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -1.015, -0.183) [env.py: 1079] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 07:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:54:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:54:02 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 07:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 07:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:54:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:54:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:54:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:54:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.598[m] 78.259[deg] [grasp_sample.py: 539] +05/12 07:54:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:54:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:54:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:54:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:54:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:18 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:54:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:54:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:54:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:39 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:54:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:54:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 07:54:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:54:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:54:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.27s (batch: 3.54s, save: 9.73s) [pipeline.py: 300] +05/12 07:54:53 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.42s: + episode_total: mean=166.76s, total=166.76s, count=1, min=166755.7ms, max=166755.7ms + sensor_polling: mean=370.0ms, total=111.01s, count=300, min=301.8ms, max=616.0ms + save_trajectories: mean=9.73s, total=9.73s, count=1, min=9726.7ms, max=9726.7ms + physics_step: mean=23.6ms, total=7.08s, count=300, min=15.0ms, max=60.5ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3540.1ms, max=3540.1ms + task_sampling: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms + task_specific_sample: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=426.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:54:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:54:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:54:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:54:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:54:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:54:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:54:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110398m [env.py: 870] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:54:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:54:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=228.6ms, total=228.7ms [env.py: 1105] +05/12 07:54:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:54:54 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:54:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:54:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:54:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:54:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:54:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:54:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:54:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:54:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:54:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174303m [env.py: 870] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:54:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=221.2ms, total=221.2ms [env.py: 1105] +05/12 07:54:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:54:56 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:54:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:54:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:54:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:54:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:54:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:54:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:54:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145549m [env.py: 870] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:54:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32948525 -1.16330513 -0.14554889] yaw=-38.1deg [env.py: 1019] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:54:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.7ms, total=224.8ms [env.py: 1075] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.163, -0.146) [env.py: 1079] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg [env.py: 1082] +05/12 07:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:54:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:54:58 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 07:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 07:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:54:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:54:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:54:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:54:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.731s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:54:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.649[m] 90.207[deg] [grasp_sample.py: 539] +05/12 07:55:00 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:55:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119655m [env.py: 870] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=234.0ms, total=234.0ms [env.py: 1105] +05/12 07:55:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:01 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138314m [env.py: 870] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.2ms, total=198.3ms [env.py: 1105] +05/12 07:55:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:03 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:03 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:55:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191770m [env.py: 870] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.5ms, total=190.5ms [env.py: 1105] +05/12 07:55:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:04 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157488m [env.py: 870] +05/12 07:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55844662 -0.71560655 -0.15748764] yaw=-75.7deg [env.py: 1019] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.8ms, total=195.8ms [env.py: 1075] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.716, -0.157) [env.py: 1079] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 07:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 07:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:55:06 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 07:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:55:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.677s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:55:08 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:55:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143222m [env.py: 870] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20521295 -1.01531334 -0.14322195] yaw=-41.7deg [env.py: 1019] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53855669 -1.02894353 -0.14322195] yaw=-57.9deg [env.py: 1019] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:55:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.7ms, total=225.7ms [env.py: 1075] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -1.015, -0.143) [env.py: 1079] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg [env.py: 1082] +05/12 07:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:55:09 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 07:55:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:55:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.410s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:55:11 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:55:11 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 07:55:12 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:55:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193194m [env.py: 870] +05/12 07:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=561.2ms, total=561.3ms [env.py: 1105] +05/12 07:55:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:13 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:13 INFO: [Worker 0] Object is not in grasp! 0.00109 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:55:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:55:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 376 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.297s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:14 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.055[m] 0.453[deg] [grasp_sample.py: 539] +05/12 07:55:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:55:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:55:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105493m [env.py: 870] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30892176 -0.95208269 -0.10549286] yaw=-48.4deg [env.py: 1019] +05/12 07:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:55:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=257.7ms, total=257.8ms [env.py: 1075] +05/12 07:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -0.952, -0.105) [env.py: 1079] +05/12 07:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/12 07:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 07:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:55:15 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 07:55:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 07:55:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.456s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:17 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 07:55:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108068m [env.py: 870] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.6ms, total=197.6ms [env.py: 1105] +05/12 07:55:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:19 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139334m [env.py: 870] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47103375 -0.97459318 -0.13933354] yaw=-56.2deg [env.py: 1019] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:55:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=401.2ms, total=401.3ms [env.py: 1075] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.975, -0.139) [env.py: 1079] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 07:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 07:55:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:55:21 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 07:55:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 07:55:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.999s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.698[m] 91.714[deg] [grasp_sample.py: 539] +05/12 07:55:23 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:55:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:55:23 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 07:55:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:55:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:55:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:55:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:55:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.318s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.056[m] 0.267[deg] [grasp_sample.py: 539] +05/12 07:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:55:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:55:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:55:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 07:55:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 07:55:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:55:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:55:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.27s (batch: 3.34s, save: 9.93s) [pipeline.py: 300] +05/12 07:55:37 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.89s: + episode_total: mean=51.52s, total=154.57s, count=3, min=212.2ms, max=142218.2ms + sensor_polling: mean=327.9ms, total=95.43s, count=291, min=297.9ms, max=605.5ms + save_trajectories: mean=9.93s, total=9.93s, count=1, min=9929.4ms, max=9929.4ms + physics_step: mean=21.2ms, total=6.16s, count=291, min=15.0ms, max=33.1ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3342.9ms, max=3342.9ms + task_specific_sample: mean=366.1ms, total=1.10s, count=3, min=208.9ms, max=477.4ms + task_sampling: mean=447.3ms, total=894.6ms, count=2, min=414.7ms, max=479.8ms + task_sampling_failed: mean=212.2ms, total=212.2ms, count=1, min=212.2ms, max=212.2ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.9ms, max=1.7ms + mj_forward_sync: mean=377.4us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:55:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115487m [env.py: 870] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.4ms, total=192.5ms [env.py: 1105] +05/12 07:55:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:38 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:55:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125874m [env.py: 870] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.3ms, total=185.3ms [env.py: 1105] +05/12 07:55:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:40 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190751m [env.py: 870] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35306971 -1.19107595 -0.19075086] yaw=-37.2deg [env.py: 1019] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51709429 -0.73108814 -0.19075086] yaw=-62.6deg [env.py: 1019] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:55:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.0ms, total=205.1ms [env.py: 1075] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -1.191, -0.191) [env.py: 1079] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg [env.py: 1082] +05/12 07:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:55:41 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 07:55:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 07:55:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.541s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.649[m] 90.354[deg] [grasp_sample.py: 539] +05/12 07:55:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:55:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:55:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:55:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:55:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.16s (batch: 3.50s, save: 9.66s) [pipeline.py: 300] +05/12 07:55:47 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=2.69s: + episode_total: mean=25.23s, total=201.82s, count=8, min=204.7ms, max=186537.6ms + sensor_polling: mean=399.9ms, total=119.97s, count=300, min=310.3ms, max=706.7ms + save_trajectories: mean=9.66s, total=9.66s, count=1, min=9659.7ms, max=9659.7ms + physics_step: mean=23.9ms, total=7.16s, count=300, min=15.0ms, max=37.4ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3496.8ms, max=3496.8ms + task_specific_sample: mean=384.7ms, total=3.08s, count=8, min=200.8ms, max=515.8ms + task_sampling: mean=448.4ms, total=2.69s, count=6, min=421.5ms, max=520.6ms + task_sampling_failed: mean=204.9ms, total=409.7ms, count=2, min=204.7ms, max=205.1ms + scene_randomize: mean=1.2ms, total=9.7ms, count=8, min=0.9ms, max=3.2ms + mj_forward_sync: mean=399.6us, total=3.2ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=15.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175322m [env.py: 870] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=178.8ms, total=178.9ms [env.py: 1105] +05/12 07:55:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:49 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:55:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:55:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100721m [env.py: 870] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=200.6ms, total=200.7ms [env.py: 1105] +05/12 07:55:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:50 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154424m [env.py: 870] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.6ms, total=194.6ms [env.py: 1105] +05/12 07:55:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:51 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:55:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:55:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.292s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:53 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.700[deg] [grasp_sample.py: 539] +05/12 07:55:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:55:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124066m [env.py: 870] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14139736 -1.07364332 -0.12406584] yaw=-48.0deg [env.py: 1019] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:55:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.4ms [env.py: 1075] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -1.074, -0.124) [env.py: 1079] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg [env.py: 1082] +05/12 07:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 07:55:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.705s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:53 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.579[m] 65.154[deg] [grasp_sample.py: 539] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:55:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:55:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:55:53 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 07:55:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 07:55:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:55:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.301s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:55:55 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191398m [env.py: 870] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.8ms, total=199.8ms [env.py: 1105] +05/12 07:55:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:55:56 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:55:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:55:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:55:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:55:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:55:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:55:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175028m [env.py: 870] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:55:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50460443 -0.97353243 -0.17502788] yaw=-66.4deg [env.py: 1019] +05/12 07:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:55:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.0ms, total=210.1ms [env.py: 1075] +05/12 07:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -0.974, -0.175) [env.py: 1079] +05/12 07:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg [env.py: 1082] +05/12 07:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 07:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:55:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:55:58 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 07:55:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 07:55:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:55:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:55:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:55:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.306s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:55:59 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.655[m] 90.269[deg] [grasp_sample.py: 539] +05/12 07:55:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:56:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:56:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:01 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:56:01 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=False episode_total=0.51s: + episode_total: mean=119.14s, total=119.14s, count=1, min=119141.6ms, max=119141.6ms + sensor_polling: mean=350.2ms, total=105.06s, count=300, min=300.9ms, max=759.5ms + physics_step: mean=23.6ms, total=7.07s, count=300, min=19.6ms, max=152.7ms + task_sampling: mean=510.1ms, total=510.1ms, count=1, min=510.1ms, max=510.1ms + task_specific_sample: mean=506.8ms, total=506.8ms, count=1, min=506.8ms, max=506.8ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=416.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:56:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:56:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:56:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:56:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:56:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:56:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117873m [env.py: 870] +05/12 07:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:56:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=480.0ms, total=480.0ms [env.py: 1105] +05/12 07:56:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:56:03 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:56:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:56:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:56:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:56:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:56:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:56:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135659m [env.py: 870] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:56:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21855735 -1.1504244 -0.13565867] yaw=-32.7deg [env.py: 1019] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38252592 -1.12978369 -0.13565867] yaw=-54.8deg [env.py: 1019] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:56:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.9ms [env.py: 1075] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.150, -0.136) [env.py: 1079] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg [env.py: 1082] +05/12 07:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:56:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:56:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:56:05 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 07:56:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:56:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:56:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:56:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:56:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:56:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:56:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:56:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:56:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:56:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.613s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:56:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.736[m] 83.858[deg] [grasp_sample.py: 539] +05/12 07:56:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:56:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:56:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:56:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.374s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:56:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.533[m] 65.102[deg] [grasp_sample.py: 539] +05/12 07:56:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:56:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:56:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:56:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:56:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:56:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:56:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:56:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:56:23 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.533[m] 65.103[deg] [grasp_sample.py: 539] +05/12 07:56:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:56:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:56:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:56:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:56:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 07:56:34 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 07:56:34 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=False episode_total=2.52s: + episode_total: mean=7.12s, total=85.49s, count=12, min=198.1ms, max=73679.6ms + sensor_polling: mean=339.5ms, total=26.48s, count=78, min=296.5ms, max=670.5ms + task_specific_sample: mean=364.7ms, total=4.38s, count=12, min=195.4ms, max=678.2ms + task_sampling: mean=504.0ms, total=2.52s, count=5, min=407.3ms, max=680.8ms + task_sampling_failed: mean=270.5ms, total=1.89s, count=7, min=198.1ms, max=572.0ms + physics_step: mean=19.0ms, total=1.48s, count=78, min=13.3ms, max=30.7ms + scene_randomize: mean=1.2ms, total=14.3ms, count=12, min=0.9ms, max=2.4ms + mj_forward_sync: mean=434.8us, total=5.2ms, count=12, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:56:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:56:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:56:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:56:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:56:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:56:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:56:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196653m [env.py: 870] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:56:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17708743 -1.09929829 -0.19665349] yaw=-39.0deg [env.py: 1019] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45613701 -1.04046659 -0.19665349] yaw=-50.0deg [env.py: 1019] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35142603 -1.12684899 -0.19665349] yaw=-42.1deg [env.py: 1019] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:56:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=160.6ms, total=160.7ms [env.py: 1075] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.099, -0.197) [env.py: 1079] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg [env.py: 1082] +05/12 07:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:56:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:56:36 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 07:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 07:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:56:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:56:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:56:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.399s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:56:39 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.728[m] 83.433[deg] [grasp_sample.py: 539] +05/12 07:56:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:56:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:56:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:56:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:56:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:56:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:56:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:56:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:57:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:57:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:57:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:57:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 07:57:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:57:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:57:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:57:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 366 non-colliding grasps [grasp_sample.py: 465] +05/12 07:57:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:57:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.996s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:57:19 INFO: [Worker 0] Feasible grasp found 231 (originally 231): w/ 0.144[m] 2.293[deg] [grasp_sample.py: 539] +05/12 07:57:20 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:57:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:57:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:57:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:57:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:57:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:57:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:57:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:57:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122775m [env.py: 870] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:57:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.1ms, total=211.2ms [env.py: 1105] +05/12 07:57:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:57:22 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:57:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:57:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:57:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:57:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:57:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:57:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:57:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166083m [env.py: 870] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:57:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57871313 -1.00727982 -0.16608301] yaw=-59.2deg [env.py: 1019] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31420682 -0.84871724 -0.16608301] yaw=-48.0deg [env.py: 1019] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:57:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.4ms, total=221.4ms [env.py: 1075] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.579, -1.007, -0.166) [env.py: 1079] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/12 07:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:57:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:57:24 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 07:57:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 07:57:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:57:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:57:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:57:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:57:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.656[m] 82.379[deg] [grasp_sample.py: 539] +05/12 07:57:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:57:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:57:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:57:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:57:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:57:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:42 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 07:57:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 07:57:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 07:57:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:57:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:57:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:57:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.294s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:57:57 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.532[m] 58.495[deg] [grasp_sample.py: 539] +05/12 07:57:58 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:57:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:57:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:57:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:57:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:57:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128670m [env.py: 870] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22716149 -1.12522344 -0.12867034] yaw=-40.7deg [env.py: 1019] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.41972907 -0.8559832 -0.12867034] yaw=-64.4deg [env.py: 1019] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=218.2ms, total=218.3ms [env.py: 1075] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.125, -0.129) [env.py: 1079] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 07:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 07:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:00 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:58:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 07:58:01 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 07:58:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.862s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:58:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.740[m] 75.134[deg] [grasp_sample.py: 539] +05/12 07:58:03 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:58:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131917m [env.py: 870] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40463496 -0.97213855 -0.13191734] yaw=-58.8deg [env.py: 1019] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26413096 -1.20893981 -0.13191734] yaw=-26.6deg [env.py: 1019] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=391.2ms, total=391.2ms [env.py: 1075] +05/12 07:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.405, -0.972, -0.132) [env.py: 1079] +05/12 07:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/12 07:58:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 07:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:05 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.679s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:58:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.745[m] 82.476[deg] [grasp_sample.py: 539] +05/12 07:58:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:58:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:58:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:58:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:58:12 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:58:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:58:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:58:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.62s (batch: 3.13s, save: 8.48s) [pipeline.py: 300] +05/12 07:58:13 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.44s: + episode_total: mean=50.72s, total=152.17s, count=3, min=193.3ms, max=151773.7ms + sensor_polling: mean=411.0ms, total=109.73s, count=267, min=304.3ms, max=628.2ms + save_trajectories: mean=8.48s, total=8.48s, count=1, min=8484.5ms, max=8484.5ms + physics_step: mean=24.9ms, total=6.65s, count=267, min=16.9ms, max=65.3ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3131.4ms, max=3131.4ms + task_specific_sample: mean=275.4ms, total=826.3ms, count=3, min=190.3ms, max=437.6ms + task_sampling: mean=439.8ms, total=439.8ms, count=1, min=439.8ms, max=439.8ms + task_sampling_failed: mean=198.2ms, total=396.4ms, count=2, min=193.3ms, max=203.1ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=429.3us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:58:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137466m [env.py: 870] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29419216 -1.20693455 -0.13746565] yaw=-47.0deg [env.py: 1019] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.6ms, total=226.6ms [env.py: 1075] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -1.207, -0.137) [env.py: 1079] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 07:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:15 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:58:19 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.647[m] 79.527[deg] [grasp_sample.py: 539] +05/12 07:58:20 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:58:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165454m [env.py: 870] +05/12 07:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=351.0ms, total=351.0ms [env.py: 1105] +05/12 07:58:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:58:22 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:58:23 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 07:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109266m [env.py: 870] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36285432 -0.89441177 -0.10926587] yaw=-50.9deg [env.py: 1019] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.5ms [env.py: 1075] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -0.894, -0.109) [env.py: 1079] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/12 07:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:24 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: False [grasp_sample.py: 500] +05/12 07:58:25 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 07:58:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192301m [env.py: 870] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.365568 -0.96564247 -0.19230052] yaw=-62.8deg [env.py: 1019] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.5ms, total=219.6ms [env.py: 1075] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.966, -0.192) [env.py: 1079] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/12 07:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:27 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:33 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:58:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 07:58:33 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 07:58:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.751s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:58:39 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.737[m] 88.590[deg] [grasp_sample.py: 539] +05/12 07:58:40 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 07:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178615m [env.py: 870] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32701713 -1.0377523 -0.17861525] yaw=-46.4deg [env.py: 1019] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.0ms, total=166.0ms [env.py: 1075] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.327, -1.038, -0.179) [env.py: 1079] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg [env.py: 1082] +05/12 07:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:42 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:43 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 07:58:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 07:58:43 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 07:58:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.441s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:58:44 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.716[m] 95.959[deg] [grasp_sample.py: 539] +05/12 07:58:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:58:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:58:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:58:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:58:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:58:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:58:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.75s (batch: 3.44s, save: 10.31s) [pipeline.py: 300] +05/12 07:58:47 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.44s: + episode_total: mean=81.46s, total=162.93s, count=2, min=489.2ms, max=162438.8ms + sensor_polling: mean=400.7ms, total=114.20s, count=285, min=297.6ms, max=639.9ms + save_trajectories: mean=10.31s, total=10.31s, count=1, min=10310.2ms, max=10310.2ms + physics_step: mean=24.8ms, total=7.07s, count=285, min=19.4ms, max=64.2ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3442.9ms, max=3442.9ms + task_specific_sample: mean=458.5ms, total=917.1ms, count=2, min=432.2ms, max=484.9ms + task_sampling_failed: mean=489.2ms, total=489.2ms, count=1, min=489.2ms, max=489.2ms + task_sampling: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms + scene_randomize: mean=1.1ms, total=2.1ms, count=2, min=1.0ms, max=1.1ms + mj_forward_sync: mean=423.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144636m [env.py: 870] +05/12 07:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=283.5ms, total=283.5ms [env.py: 1105] +05/12 07:58:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:58:49 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138860m [env.py: 870] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=167.6ms, total=167.6ms [env.py: 1105] +05/12 07:58:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 07:58:50 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 07:58:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196989m [env.py: 870] +05/12 07:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52294896 -0.94578399 -0.19698921] yaw=-72.5deg [env.py: 1019] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30322103 -1.15404958 -0.19698921] yaw=-51.0deg [env.py: 1019] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=549.9ms, total=549.9ms [env.py: 1075] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.946, -0.197) [env.py: 1079] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.5 deg [env.py: 1082] +05/12 07:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 07:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:52 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 07:58:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 07:58:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.69s (batch: 3.40s, save: 9.29s) [pipeline.py: 300] +05/12 07:58:56 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.37s: + episode_total: mean=141.01s, total=141.01s, count=1, min=141013.0ms, max=141013.0ms + sensor_polling: mean=340.4ms, total=95.31s, count=280, min=305.3ms, max=660.7ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.2ms, max=9287.2ms + physics_step: mean=21.6ms, total=6.05s, count=280, min=14.5ms, max=63.2ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3403.3ms, max=3403.3ms + task_sampling: mean=374.1ms, total=374.1ms, count=1, min=374.1ms, max=374.1ms + task_specific_sample: mean=371.6ms, total=371.6ms, count=1, min=371.6ms, max=371.6ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=418.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=10.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 07:58:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:58:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:58:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:58:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:58:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:58:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:58:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195618m [env.py: 870] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:58:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21668893 -0.99292303 -0.19561849] yaw=-51.3deg [env.py: 1019] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:58:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.1ms [env.py: 1075] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -0.993, -0.196) [env.py: 1079] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 07:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 07:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:58:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:58:58 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 07:58:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 07:58:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:58:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:58:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:58:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.064s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:58:59 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.735[m] 92.643[deg] [grasp_sample.py: 539] +05/12 07:59:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:59:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.053s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:59:01 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 07:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 07:59:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 07:59:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 07:59:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:59:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:59:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:59:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:59:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 07:59:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 07:59:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 07:59:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 07:59:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 07:59:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 07:59:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130534m [env.py: 870] +05/12 07:59:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 07:59:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 07:59:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57979799 -0.79748715 -0.13053363] yaw=-67.0deg [env.py: 1019] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 07:59:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=467.0ms, total=467.0ms [env.py: 1075] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.580, -0.797, -0.131) [env.py: 1079] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg [env.py: 1082] +05/12 07:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 07:59:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 07:59:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 07:59:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 07:59:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 07:59:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 07:59:03 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 07:59:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 07:59:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 07:59:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 07:59:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 07:59:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.874s, found feasible grasp: True [grasp_sample.py: 500] +05/12 07:59:08 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.790[m] 98.697[deg] [grasp_sample.py: 539] +05/12 07:59:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 07:59:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 07:59:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:59:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 07:59:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:59:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:59:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:59:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 07:59:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 07:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 07:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 07:59:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:00:10 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:00:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:21 INFO: [Worker 0] Object is not in grasp! 0.00096 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:00:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:00:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:00:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:00:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/12 08:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:00:21 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.618[deg] [grasp_sample.py: 539] +05/12 08:00:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:00:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:00:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:00:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:00:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:00:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:00:26 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:00:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.264s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:00:31 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.148[m] 9.832[deg] [grasp_sample.py: 539] +05/12 08:00:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:00:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:00:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:00:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:00:32 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 08:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:00:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:00:44 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 08:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:00:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:00:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:00:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:00:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:00:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:00:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:00:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:00:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:00:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:00:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 404 non-colliding grasps [grasp_sample.py: 465] +05/12 08:00:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:00:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:00:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.34s (batch: 3.41s, save: 9.93s) [pipeline.py: 300] +05/12 08:00:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.353s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:00:45 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.137[m] 2.327[deg] [grasp_sample.py: 539] +05/12 08:00:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:00:46 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=2.39s: + episode_total: mean=28.60s, total=285.99s, count=10, min=188.4ms, max=161534.4ms + sensor_polling: mean=363.8ms, total=185.88s, count=511, min=310.0ms, max=618.5ms + physics_step: mean=21.2ms, total=10.85s, count=511, min=14.6ms, max=46.4ms + save_trajectories: mean=9.93s, total=9.93s, count=1, min=9927.9ms, max=9927.9ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3410.9ms, max=3410.9ms + task_specific_sample: mean=338.2ms, total=3.38s, count=10, min=184.4ms, max=620.8ms + task_sampling: mean=477.2ms, total=2.39s, count=5, min=415.8ms, max=624.1ms + task_sampling_failed: mean=205.5ms, total=1.03s, count=5, min=188.4ms, max=219.9ms + scene_randomize: mean=1.2ms, total=12.4ms, count=10, min=0.9ms, max=2.4ms + mj_forward_sync: mean=377.0us, total=3.8ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:00:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:00:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:00:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:00:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:00:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:00:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:00:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:00:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164157m [env.py: 870] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:00:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=267.0ms, total=267.0ms [env.py: 1105] +05/12 08:00:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:00:47 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:00:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:00:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:00:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:00:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:00:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:00:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:00:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:00:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:00:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167581m [env.py: 870] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:00:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=169.4ms, total=169.5ms [env.py: 1105] +05/12 08:00:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:00:49 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:00:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:00:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:00:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:00:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:00:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:00:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:00:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174581m [env.py: 870] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:00:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63587249 -0.944547 -0.17458097] yaw=-67.8deg [env.py: 1019] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:00:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.6ms, total=170.6ms [env.py: 1075] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.945, -0.175) [env.py: 1079] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.8 deg [env.py: 1082] +05/12 08:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:00:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:00:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:00:51 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 08:00:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 08:00:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:00:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:00:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:00:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.867s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:00:52 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.633[m] 89.759[deg] [grasp_sample.py: 539] +05/12 08:00:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:00:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:00:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:00:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:00:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:00:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:00:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.76s (batch: 3.43s, save: 9.33s) [pipeline.py: 300] +05/12 08:00:58 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=1.70s: + episode_total: mean=31.59s, total=157.96s, count=5, min=361.5ms, max=136324.6ms + sensor_polling: mean=335.0ms, total=93.80s, count=280, min=301.9ms, max=560.0ms + save_trajectories: mean=9.33s, total=9.33s, count=1, min=9332.4ms, max=9332.4ms + physics_step: mean=21.5ms, total=6.01s, count=280, min=14.8ms, max=34.3ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3431.7ms, max=3431.7ms + task_specific_sample: mean=408.9ms, total=2.04s, count=5, min=338.3ms, max=479.0ms + task_sampling: mean=424.6ms, total=1.70s, count=4, min=340.6ms, max=482.7ms + task_sampling_failed: mean=361.5ms, total=361.5ms, count=1, min=361.5ms, max=361.5ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=1.0ms, max=2.5ms + mj_forward_sync: mean=429.9us, total=2.1ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=13.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:00:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:00:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:00:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:00:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:00:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:00:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:00:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147053m [env.py: 870] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:00:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=181.9ms, total=181.9ms [env.py: 1105] +05/12 08:00:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:00:59 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:00:59 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:00:59 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=0.79s: + episode_total: mean=42.74s, total=128.23s, count=3, min=175.5ms, max=127759.4ms + sensor_polling: mean=333.3ms, total=99.99s, count=300, min=300.4ms, max=564.7ms + physics_step: mean=22.3ms, total=6.69s, count=300, min=14.9ms, max=67.2ms + task_specific_sample: mean=415.6ms, total=1.25s, count=3, min=172.2ms, max=783.2ms + task_sampling: mean=785.6ms, total=785.6ms, count=1, min=785.6ms, max=785.6ms + task_sampling_failed: mean=236.4ms, total=472.8ms, count=2, min=175.5ms, max=297.3ms + scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.0ms, max=3.2ms + mj_forward_sync: mean=475.1us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:01:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197457m [env.py: 870] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51416929 -0.82151827 -0.19745725] yaw=-65.7deg [env.py: 1019] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46027615 -0.85219476 -0.19745725] yaw=-50.4deg [env.py: 1019] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.4ms [env.py: 1075] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.822, -0.197) [env.py: 1079] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118087m [env.py: 870] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:01 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=419.5ms, total=419.5ms [env.py: 1105] +05/12 08:01:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:01:01 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:01:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109385m [env.py: 870] +05/12 08:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35173228 -1.10684896 -0.10938506] yaw=-37.7deg [env.py: 1019] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=204.0ms, total=204.1ms [env.py: 1075] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.107, -0.109) [env.py: 1079] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/12 08:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 08:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:03 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.812s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:01:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.724[m] 88.944[deg] [grasp_sample.py: 539] +05/12 08:01:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:01:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:01:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:01:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:01:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.700s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:01:10 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.772[m] 75.778[deg] [grasp_sample.py: 539] +05/12 08:01:11 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:01:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172901m [env.py: 870] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23517331 -1.17490152 -0.17290074] yaw=-29.2deg [env.py: 1019] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36343922 -1.07290268 -0.17290074] yaw=-58.4deg [env.py: 1019] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.2ms, total=189.3ms [env.py: 1075] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.175, -0.173) [env.py: 1079] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.2 deg [env.py: 1082] +05/12 08:01:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:13 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.966s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:01:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.700[m] 95.483[deg] [grasp_sample.py: 539] +05/12 08:01:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:01:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:01:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:01:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:01:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 39.533s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:01:24 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 08:01:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179851m [env.py: 870] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60828233 -0.84831978 -0.17985054] yaw=-57.9deg [env.py: 1019] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.1ms, total=219.1ms [env.py: 1075] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.608, -0.848, -0.180) [env.py: 1079] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/12 08:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:26 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.601s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:01:29 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.749[m] 87.884[deg] [grasp_sample.py: 539] +05/12 08:01:30 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:01:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162422m [env.py: 870] +05/12 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=899.4ms, total=899.5ms [env.py: 1105] +05/12 08:01:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:01:32 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156360m [env.py: 870] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15536521 -1.01660187 -0.15635979] yaw=-47.8deg [env.py: 1019] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=245.5ms, total=245.5ms [env.py: 1075] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.155, -1.017, -0.156) [env.py: 1079] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/12 08:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:34 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:01:36 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:01:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116838m [env.py: 870] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33307612 -0.90354263 -0.11683799] yaw=-60.6deg [env.py: 1019] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.3ms, total=254.3ms [env.py: 1075] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.904, -0.117) [env.py: 1079] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg [env.py: 1082] +05/12 08:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:37 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.267s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:01:39 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:01:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154997m [env.py: 870] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.7ms, total=194.8ms [env.py: 1105] +05/12 08:01:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:01:40 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:01:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178197m [env.py: 870] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.2ms, total=204.3ms [env.py: 1105] +05/12 08:01:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:01:41 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:01:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193138m [env.py: 870] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20825092 -0.98340481 -0.19313751] yaw=-52.6deg [env.py: 1019] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39372234 -0.82965753 -0.19313751] yaw=-67.7deg [env.py: 1019] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.0ms, total=201.0ms [env.py: 1075] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -0.983, -0.193) [env.py: 1079] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/12 08:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:43 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.281s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:01:44 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:01:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181812m [env.py: 870] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.7ms, total=209.7ms [env.py: 1105] +05/12 08:01:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:01:46 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:01:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141719m [env.py: 870] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.8ms, total=212.9ms [env.py: 1105] +05/12 08:01:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:01:47 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:01:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:01:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:01:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:01:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:01:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:01:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:01:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135973m [env.py: 870] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:01:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52943154 -0.89551857 -0.13597298] yaw=-57.3deg [env.py: 1019] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37114852 -0.85920366 -0.13597298] yaw=-65.5deg [env.py: 1019] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms [env.py: 1075] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.896, -0.136) [env.py: 1079] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 08:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:01:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:01:49 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 08:01:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 08:01:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:01:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:01:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:01:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.283s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:01:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.728[m] 91.357[deg] [grasp_sample.py: 539] +05/12 08:01:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:01:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:01:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:01:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:01:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:02:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:02:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:02:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:02:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:02:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:02:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:02:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:02:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:02:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:02:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:02:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:02:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.220s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:02:50 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.131[m] 14.127[deg] [grasp_sample.py: 539] +05/12 08:02:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:02:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:02:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:02:55 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:02:59 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:03:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:03:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:02 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:03:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.071s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:03:06 INFO: [Worker 0] Feasible grasp found 170 (originally 170): w/ 0.176[m] 15.180[deg] [grasp_sample.py: 539] +05/12 08:03:07 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:03:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102797m [env.py: 870] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35226983 -1.16326592 -0.10279679] yaw=-43.7deg [env.py: 1019] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.538315 -0.9770029 -0.10279679] yaw=-66.4deg [env.py: 1019] +05/12 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39674204 -0.80667945 -0.10279679] yaw=-66.3deg [env.py: 1019] +05/12 08:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=343.0ms, total=343.1ms [env.py: 1075] +05/12 08:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.163, -0.103) [env.py: 1079] +05/12 08:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 08:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 08:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:09 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:03:12 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.704[m] 73.981[deg] [grasp_sample.py: 539] +05/12 08:03:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:03:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:03:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:03:15 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:03:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:03:15 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 08:03:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:03:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:03:20 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 08:03:21 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:03:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:03:21 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 08:03:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:03:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:03:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.14s (batch: 3.37s, save: 8.77s) [pipeline.py: 300] +05/12 08:03:28 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.39s: + episode_total: mean=52.76s, total=158.28s, count=3, min=177.8ms, max=157827.5ms + sensor_polling: mean=425.0ms, total=111.78s, count=263, min=333.5ms, max=874.5ms + save_trajectories: mean=8.77s, total=8.77s, count=1, min=8770.9ms, max=8770.9ms + physics_step: mean=26.4ms, total=6.95s, count=263, min=14.7ms, max=78.6ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3371.3ms, max=3371.3ms + task_specific_sample: mean=277.5ms, total=832.4ms, count=3, min=174.6ms, max=384.9ms + task_sampling_failed: mean=228.2ms, total=456.5ms, count=2, min=177.8ms, max=278.7ms + task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.0ms, max=2.6ms + mj_forward_sync: mean=430.2us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:03:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173706m [env.py: 870] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11044163 -1.02319692 -0.17370602] yaw=-40.6deg [env.py: 1019] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.68695368 -0.96387642 -0.17370602] yaw=-68.8deg [env.py: 1019] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.5ms, total=244.5ms [env.py: 1075] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -1.023, -0.174) [env.py: 1079] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 08:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:30 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.166s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:03:32 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:03:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:03:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:03:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.63s (batch: 3.45s, save: 9.18s) [pipeline.py: 300] +05/12 08:03:33 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.44s: + episode_total: mean=75.40s, total=150.81s, count=2, min=427.9ms, max=150380.7ms + sensor_polling: mean=356.5ms, total=101.61s, count=285, min=307.8ms, max=671.7ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9180.2ms, max=9180.2ms + physics_step: mean=22.6ms, total=6.45s, count=285, min=14.5ms, max=52.3ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3449.9ms, max=3449.9ms + task_specific_sample: mean=431.2ms, total=862.4ms, count=2, min=424.8ms, max=437.7ms + task_sampling: mean=440.9ms, total=440.9ms, count=1, min=440.9ms, max=440.9ms + task_sampling_failed: mean=427.9ms, total=427.9ms, count=1, min=427.9ms, max=427.9ms + scene_randomize: mean=1.1ms, total=2.1ms, count=2, min=0.9ms, max=1.2ms + mj_forward_sync: mean=391.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:03:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125615m [env.py: 870] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:03:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:03:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.13s (batch: 3.18s, save: 8.95s) [pipeline.py: 300] +05/12 08:03:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.2ms, total=200.3ms [env.py: 1105] +05/12 08:03:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:03:33 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:03:34 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.93s: + episode_total: mean=50.84s, total=152.51s, count=3, min=191.4ms, max=141718.3ms + sensor_polling: mean=340.0ms, total=94.85s, count=279, min=303.5ms, max=602.1ms + save_trajectories: mean=8.95s, total=8.95s, count=1, min=8952.6ms, max=8952.6ms + physics_step: mean=21.7ms, total=6.05s, count=279, min=14.9ms, max=50.0ms + save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3175.2ms, max=3175.2ms + task_specific_sample: mean=371.2ms, total=1.11s, count=3, min=188.0ms, max=517.7ms + task_sampling: mean=465.7ms, total=931.3ms, count=2, min=410.9ms, max=520.5ms + task_sampling_failed: mean=191.3ms, total=191.3ms, count=1, min=191.3ms, max=191.3ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.0ms, max=1.8ms + mj_forward_sync: mean=415.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:03:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158648m [env.py: 870] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55336837 -0.88905369 -0.15864756] yaw=-59.0deg [env.py: 1019] +05/12 08:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.2ms [env.py: 1075] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.889, -0.159) [env.py: 1079] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180740m [env.py: 870] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:35 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.0ms, total=186.0ms [env.py: 1105] +05/12 08:03:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:03:35 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:03:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135381m [env.py: 870] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33518217 -0.83987806 -0.13538118] yaw=-55.0deg [env.py: 1019] +05/12 08:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms [env.py: 1075] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.840, -0.135) [env.py: 1079] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:36 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148627m [env.py: 870] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49263717 -0.85330417 -0.14862699] yaw=-62.2deg [env.py: 1019] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27045644 -0.92080068 -0.14862699] yaw=-54.5deg [env.py: 1019] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.6ms [env.py: 1075] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.853, -0.149) [env.py: 1079] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/12 08:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:37 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.807s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:03:38 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:03:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.072s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:03:39 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.714[m] 86.822[deg] [grasp_sample.py: 539] +05/12 08:03:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.134s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:03:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 88.873[deg] [grasp_sample.py: 539] +05/12 08:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161825m [env.py: 870] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.0ms, total=204.1ms [env.py: 1105] +05/12 08:03:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:03:39 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:03:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:03:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:03:40 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:03:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140641m [env.py: 870] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=436.8ms, total=436.8ms [env.py: 1105] +05/12 08:03:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:03:41 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:03:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118627m [env.py: 870] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.0ms, total=198.0ms [env.py: 1105] +05/12 08:03:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:03:42 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:03:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178106m [env.py: 870] +05/12 08:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56626901 -0.72915383 -0.17810604] yaw=-75.8deg [env.py: 1019] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111657m [env.py: 870] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=497.5ms, total=497.5ms [env.py: 1075] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.729, -0.178) [env.py: 1079] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.8 deg [env.py: 1082] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:43 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33399393 -1.18308782 -0.11165729] yaw=-36.7deg [env.py: 1019] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47213963 -0.90540218 -0.11165729] yaw=-65.0deg [env.py: 1019] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31314624 -1.19039878 -0.11165729] yaw=-39.4deg [env.py: 1019] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=322.0ms, total=322.0ms [env.py: 1075] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -1.183, -0.112) [env.py: 1079] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.7 deg [env.py: 1082] +05/12 08:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:44 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.760s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:03:44 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.684[m] 83.937[deg] [grasp_sample.py: 539] +05/12 08:03:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:03:45 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:03:46 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:03:46 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:03:46 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:03:46 INFO: [Worker 0] Worker 0 completed house 1: 8/10 successful episodes [pipeline.py: 1323] +05/12 08:03:46 INFO: [Worker 0] [PROFILE] House 1 complete: 8/10 successful, 10 episodes, total_time=2801.78s + House averages: + episode_total: mean=22.69s, total=1633.82s, count=72, min=191.4ms, max=153190.4ms + sensor_polling: mean=354.8ms, total=940.13s, count=2650, min=289.3ms, max=1062.9ms + save_trajectories: mean=9.21s, total=73.65s, count=8, min=8484.5ms, max=9929.4ms + physics_step: mean=22.5ms, total=59.61s, count=2650, min=13.1ms, max=65.3ms + task_specific_sample: mean=383.7ms, total=27.63s, count=72, min=188.0ms, max=811.8ms + save_batch_prep: mean=3.34s, total=26.70s, count=8, min=3131.4ms, max=3611.8ms + task_sampling: mean=572.1ms, total=24.60s, count=43, min=318.3ms, max=4344.1ms + task_sampling_failed: mean=233.6ms, total=6.77s, count=29, min=191.3ms, max=451.5ms + scene_load: mean=3.53s, total=3.53s, count=1, min=3529.6ms, max=3529.6ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1789.7ms, max=1789.7ms + scene_compile: mean=1.57s, total=1.57s, count=1, min=1574.8ms, max=1574.8ms + compile_mujoco: mean=915.9ms, total=915.9ms, count=1, min=915.9ms, max=915.9ms + compile_xml_load: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + scene_randomize: mean=1.2ms, total=88.5ms, count=72, min=0.9ms, max=2.7ms + scene_asset_install: mean=68.1ms, total=68.1ms, count=1, min=68.1ms, max=68.1ms + compile_aux_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + compile_aux_policy_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + asset_install_grasps: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms + mj_forward_sync: mean=421.5us, total=30.4ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_objects: mean=16.0ms, total=16.0ms, count=1, min=16.0ms, max=16.0ms + asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + policy_setup: mean=15.3us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 08:03:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:03:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=2801.78s + Worker averages: + episode_total: mean=22.69s, total=1633.82s, count=72, min=191.4ms, max=153190.4ms + sensor_polling: mean=354.8ms, total=940.13s, count=2650, min=289.3ms, max=1062.9ms + save_trajectories: mean=9.21s, total=73.65s, count=8, min=8484.5ms, max=9929.4ms + physics_step: mean=22.5ms, total=59.61s, count=2650, min=13.1ms, max=65.3ms + task_specific_sample: mean=383.7ms, total=27.63s, count=72, min=188.0ms, max=811.8ms + save_batch_prep: mean=3.34s, total=26.70s, count=8, min=3131.4ms, max=3611.8ms + task_sampling: mean=572.1ms, total=24.60s, count=43, min=318.3ms, max=4344.1ms + task_sampling_failed: mean=233.6ms, total=6.77s, count=29, min=191.3ms, max=451.5ms + scene_load: mean=3.53s, total=3.53s, count=1, min=3529.6ms, max=3529.6ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1789.7ms, max=1789.7ms + scene_compile: mean=1.57s, total=1.57s, count=1, min=1574.8ms, max=1574.8ms + compile_mujoco: mean=915.9ms, total=915.9ms, count=1, min=915.9ms, max=915.9ms + compile_xml_load: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + scene_randomize: mean=1.2ms, total=88.5ms, count=72, min=0.9ms, max=2.7ms + scene_asset_install: mean=68.1ms, total=68.1ms, count=1, min=68.1ms, max=68.1ms + compile_aux_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + compile_aux_policy_objects: mean=50.1ms, total=50.1ms, count=1, min=50.1ms, max=50.1ms + asset_install_grasps: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms + mj_forward_sync: mean=421.5us, total=30.4ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms + asset_install_objects: mean=16.0ms, total=16.0ms, count=1, min=16.0ms, max=16.0ms + asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + policy_setup: mean=15.3us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 08:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122213m [env.py: 870] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15588169 -1.06782356 -0.12221335] yaw=-38.4deg [env.py: 1019] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26300737 -0.9663285 -0.12221335] yaw=-47.0deg [env.py: 1019] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.8ms, total=195.8ms [env.py: 1075] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.068, -0.122) [env.py: 1079] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.4 deg [env.py: 1082] +05/12 08:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:47 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:49 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 08:03:49 INFO: Success count: 8, Total count: 10 [pipeline.py: 1491] +05/12 08:03:49 INFO: Success rate: 80.00% [pipeline.py: 1492] +05/12 08:03:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.906s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:03:49 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:03:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:03:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:03:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:03:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119029m [env.py: 870] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37359466 -1.15125413 -0.1190285 ] yaw=-54.2deg [env.py: 1019] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:03:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=322.2ms, total=322.2ms [env.py: 1075] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.151, -0.119) [env.py: 1079] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 08:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:03:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:03:51 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 08:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 08:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:03:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:03:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:03:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:03:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.684[m] 80.599[deg] [grasp_sample.py: 539] +05/12 08:03:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:03:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:03:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:04:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:04:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:04:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:04:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:04:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:04:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:04:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:04:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:04:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:04:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:04:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 510 non-colliding grasps [grasp_sample.py: 465] +05/12 08:04:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:04:41 INFO: [Worker 0] Feasible grasp found 170 (originally 170): w/ 0.111[m] 12.597[deg] [grasp_sample.py: 539] +05/12 08:04:42 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:04:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:04:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:04:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:04:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:04:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:04:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:04:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160713m [env.py: 870] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:04:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3808976 -0.93597111 -0.16071294] yaw=-45.1deg [env.py: 1019] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:04:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms [env.py: 1075] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -0.936, -0.161) [env.py: 1079] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.1 deg [env.py: 1082] +05/12 08:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:04:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:04:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:04:43 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 08:04:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:04:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:04:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:04:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:04:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.145s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:04:50 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.742[m] 87.465[deg] [grasp_sample.py: 539] +05/12 08:04:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:04:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:04:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:04:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:04:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:04:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:05:00 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:05:23 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:05:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:05:23 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 08:05:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:05:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:05:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.38s (batch: 3.52s, save: 8.86s) [pipeline.py: 300] +05/12 08:05:36 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=3.94s: + episode_total: mean=29.49s, total=383.42s, count=13, min=202.8ms, max=147879.4ms + sensor_polling: mean=354.7ms, total=214.23s, count=604, min=292.4ms, max=673.5ms + physics_step: mean=22.4ms, total=13.53s, count=604, min=14.7ms, max=59.7ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8863.3ms, max=8863.3ms + task_specific_sample: mean=435.6ms, total=5.66s, count=13, min=199.7ms, max=904.7ms + task_sampling: mean=492.3ms, total=3.94s, count=8, min=411.5ms, max=707.3ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3520.9ms, max=3520.9ms + task_sampling_failed: mean=353.4ms, total=1.77s, count=5, min=202.8ms, max=911.3ms + scene_randomize: mean=1.3ms, total=16.7ms, count=13, min=0.9ms, max=2.6ms + mj_forward_sync: mean=430.1us, total=5.6ms, count=13, min=0.4ms, max=0.6ms + policy_setup: mean=12.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:05:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:05:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:05:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:05:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:05:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:05:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:05:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160657m [env.py: 870] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:05:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43275057 -0.78848107 -0.16065715] yaw=-70.7deg [env.py: 1019] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:05:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms [env.py: 1075] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -0.788, -0.161) [env.py: 1079] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/12 08:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:05:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:05:38 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 08:05:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 08:05:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:05:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:05:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:05:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:05:39 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:05:40 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:05:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:05:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:05:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:05:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:05:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:05:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:05:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:05:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144269m [env.py: 870] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:05:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=574.6ms, total=574.6ms [env.py: 1105] +05/12 08:05:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:05:41 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:05:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:05:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:05:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:05:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:05:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:05:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:05:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154023m [env.py: 870] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:05:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32249368 -1.09139138 -0.15402255] yaw=-54.4deg [env.py: 1019] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32694551 -1.15823587 -0.15402255] yaw=-52.0deg [env.py: 1019] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:05:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=524.7ms, total=524.8ms [env.py: 1075] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.091, -0.154) [env.py: 1079] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 08:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:05:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:05:43 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 08:05:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 08:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:05:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:05:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:05:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.042s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:05:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.723[m] 89.516[deg] [grasp_sample.py: 539] +05/12 08:05:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:05:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:05:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:05:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:05:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:05:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:05:59 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:05:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:05:59 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 08:06:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:06:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:06:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.82s (batch: 3.31s, save: 8.51s) [pipeline.py: 300] +05/12 08:06:11 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=2.49s: + episode_total: mean=19.16s, total=153.29s, count=8, min=194.1ms, max=140925.6ms + sensor_polling: mean=359.3ms, total=97.37s, count=271, min=301.4ms, max=587.2ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8510.6ms, max=8510.6ms + physics_step: mean=21.3ms, total=5.78s, count=271, min=14.4ms, max=39.3ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3308.0ms, max=3308.0ms + task_specific_sample: mean=383.8ms, total=3.07s, count=8, min=191.1ms, max=585.0ms + task_sampling: mean=497.1ms, total=2.49s, count=5, min=401.7ms, max=587.9ms + task_sampling_failed: mean=203.0ms, total=608.9ms, count=3, min=194.1ms, max=208.9ms + scene_randomize: mean=1.3ms, total=10.2ms, count=8, min=1.0ms, max=2.5ms + mj_forward_sync: mean=461.4us, total=3.7ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:06:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:06:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:06:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:06:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163815m [env.py: 870] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=440.3ms, total=440.3ms [env.py: 1105] +05/12 08:06:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:06:13 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:06:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:06:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:06:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:06:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:06:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:06:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:06:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108891m [env.py: 870] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:06:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.66785172 -0.90999274 -0.10889149] yaw=-73.1deg [env.py: 1019] +05/12 08:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=196.5ms, total=196.5ms [env.py: 1075] +05/12 08:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.668, -0.910, -0.109) [env.py: 1079] +05/12 08:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg [env.py: 1082] +05/12 08:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 08:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:06:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:06:15 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 08:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 08:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:06:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:06:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:06:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.845s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:06:17 INFO: [Worker 0] Feasible grasp found 887 (originally 223): w/ 0.729[m] 89.889[deg] [grasp_sample.py: 539] +05/12 08:06:18 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:06:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:06:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:06:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:06:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:06:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:06:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:06:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157823m [env.py: 870] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:06:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23767395 -1.15940496 -0.15782265] yaw=-34.8deg [env.py: 1019] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:06:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1075] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -1.159, -0.158) [env.py: 1079] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg [env.py: 1082] +05/12 08:06:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:06:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:06:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:06:20 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 08:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 08:06:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:06:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:06:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:06:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.346s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:06:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.694[m] 83.751[deg] [grasp_sample.py: 539] +05/12 08:06:22 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:06:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:06:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:06:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:06:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:06:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167165m [env.py: 870] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55276395 -0.97006005 -0.16716459] yaw=-61.2deg [env.py: 1019] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:06:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.5ms [env.py: 1075] +05/12 08:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.970, -0.167) [env.py: 1079] +05/12 08:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 08:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 08:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:06:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:06:24 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 08:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:06:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:06:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:06:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.763s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:06:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.688[m] 80.063[deg] [grasp_sample.py: 539] +05/12 08:06:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:06:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:06:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:06:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:06:33 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:06:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:06:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:06:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:06:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:06:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:06:56 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 08:07:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:07:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:07:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.04s (batch: 3.33s, save: 8.71s) [pipeline.py: 300] +05/12 08:07:08 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.85s: + episode_total: mean=106.29s, total=212.58s, count=2, min=67327.6ms, max=145251.0ms + sensor_polling: mean=331.0ms, total=141.66s, count=428, min=293.3ms, max=594.3ms + physics_step: mean=21.3ms, total=9.11s, count=428, min=14.6ms, max=65.1ms + save_trajectories: mean=8.71s, total=8.71s, count=1, min=8714.0ms, max=8714.0ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3325.2ms, max=3325.2ms + task_sampling: mean=422.7ms, total=845.4ms, count=2, min=400.2ms, max=445.2ms + task_specific_sample: mean=419.4ms, total=838.9ms, count=2, min=396.4ms, max=442.5ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms + mj_forward_sync: mean=411.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:07:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:07:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:07:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:07:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:07:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:07:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:07:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110287m [env.py: 870] +05/12 08:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:07:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=214.6ms, total=214.7ms [env.py: 1105] +05/12 08:07:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:07:10 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:07:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:07:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:07:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:07:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:07:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:07:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:07:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150353m [env.py: 870] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:07:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34553592 -0.91916636 -0.1503529 ] yaw=-57.9deg [env.py: 1019] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30854756 -1.201938 -0.1503529 ] yaw=-38.8deg [env.py: 1019] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:07:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.6ms [env.py: 1075] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -0.919, -0.150) [env.py: 1079] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/12 08:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:07:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:07:11 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 08:07:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 08:07:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:07:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:07:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:07:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:07:26 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:07:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:07:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.141s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:07:30 INFO: [Worker 0] Feasible grasp found 77 (originally 77): w/ 0.781[m] 97.422[deg] [grasp_sample.py: 539] +05/12 08:07:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:07:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:07:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:07:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:07:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:07:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:07:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:07:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:07:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:07:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 331 non-colliding grasps [grasp_sample.py: 465] +05/12 08:07:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:07:35 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.038[m] 2.484[deg] [grasp_sample.py: 539] +05/12 08:07:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:07:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:07:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:07:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:07:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:07:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:07:45 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 08:07:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:07:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:07:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:07:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:07:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.24s (batch: 3.21s, save: 9.03s) [pipeline.py: 300] +05/12 08:07:57 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=1.41s: + episode_total: mean=45.83s, total=137.49s, count=3, min=587.6ms, max=134879.3ms + sensor_polling: mean=326.2ms, total=91.01s, count=279, min=294.2ms, max=631.7ms + save_trajectories: mean=9.03s, total=9.03s, count=1, min=9028.4ms, max=9028.4ms + physics_step: mean=20.9ms, total=5.84s, count=279, min=14.4ms, max=35.4ms + save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3211.1ms, max=3211.1ms + task_specific_sample: mean=661.9ms, total=1.99s, count=3, min=458.8ms, max=947.1ms + task_sampling: mean=705.7ms, total=1.41s, count=2, min=462.0ms, max=949.4ms + task_sampling_failed: mean=587.6ms, total=587.6ms, count=1, min=587.6ms, max=587.6ms + scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=1.0ms, max=1.9ms + mj_forward_sync: mean=459.6us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:07:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:07:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:07:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:07:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121073m [env.py: 870] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5198423 -1.03385792 -0.12107276] yaw=-59.0deg [env.py: 1019] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=479.9ms, total=479.9ms [env.py: 1075] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -1.034, -0.121) [env.py: 1079] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 08:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:07:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:07:59 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 08:07:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 08:07:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:07:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:08:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:08:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.551s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:08:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.640[m] 84.453[deg] [grasp_sample.py: 539] +05/12 08:08:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:08:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:08:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:08:26 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:08:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:08:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:08:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:08:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:08:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:08:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.483[m] 59.558[deg] [grasp_sample.py: 539] +05/12 08:08:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:08:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:08:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:08:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:46 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:08:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:08:46 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:08:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:08:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:08:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:08:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:08:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:08:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.587s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:08:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.479[m] 58.879[deg] [grasp_sample.py: 539] +05/12 08:08:51 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:08:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:08:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:08:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:08:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:08:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:08:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:08:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131003m [env.py: 870] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:08:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41464323 -0.92787198 -0.13100347] yaw=-45.0deg [env.py: 1019] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13243071 -1.10001409 -0.13100347] yaw=-46.6deg [env.py: 1019] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:08:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=171.7ms, total=171.7ms [env.py: 1075] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -0.928, -0.131) [env.py: 1079] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg [env.py: 1082] +05/12 08:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:08:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:08:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:08:53 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 08:08:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 08:08:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:08:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:08:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:08:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.301s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:08:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.757[m] 87.577[deg] [grasp_sample.py: 539] +05/12 08:08:56 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:08:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:08:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:08:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158757m [env.py: 870] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=177.9ms, total=177.9ms [env.py: 1105] +05/12 08:08:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:08:57 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:08:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:08:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:08:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:08:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:08:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:08:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:08:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:08:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:08:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:08:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158357m [env.py: 870] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:08:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:08:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=169.1ms, total=169.2ms [env.py: 1105] +05/12 08:08:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:08:58 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:09:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:09:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:09:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.26s (batch: 3.47s, save: 9.79s) [pipeline.py: 300] +05/12 08:09:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131741m [env.py: 870] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.2ms, total=163.2ms [env.py: 1105] +05/12 08:09:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:09:00 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:09:00 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=1.29s: + episode_total: mean=40.99s, total=163.97s, count=4, min=450.8ms, max=157038.2ms + sensor_polling: mean=360.1ms, total=108.02s, count=300, min=303.9ms, max=589.0ms + save_trajectories: mean=9.79s, total=9.79s, count=1, min=9786.5ms, max=9786.5ms + physics_step: mean=21.3ms, total=6.38s, count=300, min=14.6ms, max=33.1ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3469.4ms, max=3469.4ms + task_specific_sample: mean=431.1ms, total=1.72s, count=4, min=412.1ms, max=445.9ms + task_sampling: mean=428.4ms, total=1.29s, count=3, min=414.2ms, max=443.4ms + task_sampling_failed: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms + scene_randomize: mean=1.3ms, total=5.1ms, count=4, min=0.9ms, max=2.2ms + mj_forward_sync: mean=392.7us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:09:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103530m [env.py: 870] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25685949 -1.18044048 -0.10353033] yaw=-29.0deg [env.py: 1019] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=324.1ms, total=324.2ms [env.py: 1075] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -1.180, -0.104) [env.py: 1079] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.0 deg [env.py: 1082] +05/12 08:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141717m [env.py: 870] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:02 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23596297 -1.03411412 -0.14171698] yaw=-50.1deg [env.py: 1019] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.5ms, total=250.5ms [env.py: 1075] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.034, -0.142) [env.py: 1079] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/12 08:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:02 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:09:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.876s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:09:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.770[m] 85.364[deg] [grasp_sample.py: 539] +05/12 08:09:05 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:09:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140974m [env.py: 870] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=411.7ms, total=411.7ms [env.py: 1105] +05/12 08:09:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:09:07 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:09:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:09:08 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.702[m] 80.644[deg] [grasp_sample.py: 539] +05/12 08:09:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:09:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:09:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:09:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125353m [env.py: 870] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38476936 -0.81470254 -0.12535338] yaw=-47.7deg [env.py: 1019] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.3ms [env.py: 1075] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.815, -0.125) [env.py: 1079] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg [env.py: 1082] +05/12 08:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:09 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:09:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:09:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:09:10 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:09:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175032m [env.py: 870] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3946728 -1.03704306 -0.17503185] yaw=-54.0deg [env.py: 1019] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23600288 -1.06902987 -0.17503185] yaw=-49.5deg [env.py: 1019] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33748593 -1.10306639 -0.17503185] yaw=-41.3deg [env.py: 1019] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.2ms [env.py: 1075] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.037, -0.175) [env.py: 1079] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 08:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 08:09:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:12 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:09:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:09:17 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.664[m] 85.298[deg] [grasp_sample.py: 539] +05/12 08:09:17 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:09:18 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:09:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175303m [env.py: 870] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=199.4ms, total=199.4ms [env.py: 1105] +05/12 08:09:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:09:19 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:09:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111765m [env.py: 870] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28783805 -1.1443886 -0.11176522] yaw=-46.8deg [env.py: 1019] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35907347 -1.06912003 -0.11176522] yaw=-55.6deg [env.py: 1019] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58677779 -0.91133893 -0.11176522] yaw=-55.2deg [env.py: 1019] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.9ms, total=162.0ms [env.py: 1075] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.144, -0.112) [env.py: 1079] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg [env.py: 1082] +05/12 08:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 08:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:21 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:09:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.807s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:09:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.697[m] 83.289[deg] [grasp_sample.py: 539] +05/12 08:09:24 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:09:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162734m [env.py: 870] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47369792 -0.82008016 -0.16273406] yaw=-61.3deg [env.py: 1019] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=177.5ms, total=177.6ms [env.py: 1075] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.820, -0.163) [env.py: 1079] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/12 08:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:25 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:09:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.738s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:09:29 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.756[m] 90.311[deg] [grasp_sample.py: 539] +05/12 08:09:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:09:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:09:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:09:40 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:09:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:09:40 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 08:09:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:09:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:09:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.94s (batch: 3.35s, save: 9.59s) [pipeline.py: 300] +05/12 08:09:53 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.45s: + episode_total: mean=81.28s, total=162.56s, count=2, min=226.0ms, max=162336.1ms + sensor_polling: mean=331.5ms, total=97.46s, count=294, min=300.0ms, max=695.4ms + save_trajectories: mean=9.59s, total=9.59s, count=1, min=9585.9ms, max=9585.9ms + physics_step: mean=21.8ms, total=6.40s, count=294, min=19.4ms, max=35.1ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3349.5ms, max=3349.5ms + task_specific_sample: mean=331.9ms, total=663.8ms, count=2, min=220.4ms, max=443.4ms + task_sampling: mean=446.2ms, total=446.2ms, count=1, min=446.2ms, max=446.2ms + task_sampling_failed: mean=225.9ms, total=225.9ms, count=1, min=225.9ms, max=225.9ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=419.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:09:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140453m [env.py: 870] +05/12 08:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38744196 -0.98961474 -0.14045333] yaw=-63.8deg [env.py: 1019] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -0.990, -0.140) [env.py: 1079] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg [env.py: 1082] +05/12 08:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 08:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:55 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:09:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:09:57 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.707[m] 93.256[deg] [grasp_sample.py: 539] +05/12 08:09:58 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:09:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:09:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161399m [env.py: 870] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36104264 -1.06653971 -0.16139887] yaw=-49.5deg [env.py: 1019] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18121939 -1.14248869 -0.16139887] yaw=-29.0deg [env.py: 1019] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.4ms [env.py: 1075] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -1.067, -0.161) [env.py: 1079] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 08:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:09:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:09:59 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 08:09:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 08:09:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:09:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:09:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:10:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.115s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:10:04 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.697[m] 85.188[deg] [grasp_sample.py: 539] +05/12 08:10:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:10:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:10:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:10:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:10:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:10:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:10:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:10:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:10:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:10:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:10:54 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:10:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:11:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:11:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:11:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:11:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:11:12 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 08:11:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:11:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:11:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.05s (batch: 3.16s, save: 8.89s) [pipeline.py: 300] +05/12 08:11:25 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=1.71s: + episode_total: mean=33.34s, total=200.06s, count=6, min=170.6ms, max=143858.4ms + sensor_polling: mean=365.4ms, total=120.57s, count=330, min=299.6ms, max=656.8ms + save_trajectories: mean=8.89s, total=8.89s, count=1, min=8894.0ms, max=8894.0ms + physics_step: mean=23.4ms, total=7.72s, count=330, min=15.5ms, max=56.7ms + save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3160.1ms, max=3160.1ms + task_specific_sample: mean=370.4ms, total=2.22s, count=6, min=167.9ms, max=750.3ms + task_sampling: mean=569.0ms, total=1.71s, count=3, min=368.8ms, max=754.1ms + task_sampling_failed: mean=178.0ms, total=534.0ms, count=3, min=170.6ms, max=186.4ms + scene_randomize: mean=1.4ms, total=8.1ms, count=6, min=0.9ms, max=2.5ms + mj_forward_sync: mean=402.5us, total=2.4ms, count=6, min=0.4ms, max=0.5ms + policy_setup: mean=13.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:11:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:11:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:11:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:11:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:11:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:11:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:11:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173916m [env.py: 870] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:11:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41314091 -0.83401621 -0.17391597] yaw=-54.0deg [env.py: 1019] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38297198 -1.02359198 -0.17391597] yaw=-45.9deg [env.py: 1019] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32471479 -1.03273414 -0.17391597] yaw=-49.7deg [env.py: 1019] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:11:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.1ms [env.py: 1075] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.834, -0.174) [env.py: 1079] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 08:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:11:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:11:27 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 08:11:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 08:11:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:11:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:11:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:11:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.433s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:11:29 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 08:11:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:11:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:11:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:11:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:11:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:11:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:11:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152224m [env.py: 870] +05/12 08:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:11:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:11:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4566364 -0.93418118 -0.15222446] yaw=-57.4deg [env.py: 1019] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36452448 -0.81075658 -0.15222446] yaw=-60.7deg [env.py: 1019] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:11:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.6ms, total=189.6ms [env.py: 1075] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -0.934, -0.152) [env.py: 1079] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg [env.py: 1082] +05/12 08:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 08:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:11:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:11:31 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 08:11:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:11:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:11:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:11:31 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:11:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:11:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.737s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:11:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.718[m] 93.267[deg] [grasp_sample.py: 539] +05/12 08:11:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:11:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:11:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:11:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:11:51 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:11:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:11:51 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 08:11:56 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:12:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:12:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:12:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.31s (batch: 3.32s, save: 8.99s) [pipeline.py: 300] +05/12 08:12:04 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=2.06s: + episode_total: mean=24.92s, total=174.42s, count=7, min=212.2ms, max=158550.2ms + sensor_polling: mean=392.6ms, total=112.30s, count=286, min=295.8ms, max=611.1ms + save_trajectories: mean=8.99s, total=8.99s, count=1, min=8989.8ms, max=8989.8ms + physics_step: mean=23.6ms, total=6.75s, count=286, min=15.0ms, max=31.6ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3321.1ms, max=3321.1ms + task_specific_sample: mean=382.0ms, total=2.67s, count=7, min=207.3ms, max=507.7ms + task_sampling: mean=412.4ms, total=2.06s, count=5, min=362.5ms, max=510.6ms + task_sampling_failed: mean=316.6ms, total=633.2ms, count=2, min=212.2ms, max=421.0ms + scene_randomize: mean=1.4ms, total=9.5ms, count=7, min=1.0ms, max=2.1ms + mj_forward_sync: mean=433.2us, total=3.0ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=12.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:12:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:12:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:12:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109151m [env.py: 870] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40003315 -1.08706244 -0.10915108] yaw=-41.2deg [env.py: 1019] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.4ms, total=221.4ms [env.py: 1075] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.087, -0.109) [env.py: 1079] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/12 08:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:12:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:12:05 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 08:12:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 08:12:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:12:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:12:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:12:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.348s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:12:07 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.732[m] 83.197[deg] [grasp_sample.py: 539] +05/12 08:12:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:12:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:12:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:12:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:12:15 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:12:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:12:15 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 08:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:12:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:12:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.22s (batch: 3.37s, save: 8.85s) [pipeline.py: 300] +05/12 08:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:28 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.89s: + episode_total: mean=76.22s, total=152.44s, count=2, min=3156.2ms, max=149285.3ms + sensor_polling: mean=366.5ms, total=100.79s, count=275, min=303.8ms, max=625.8ms + save_trajectories: mean=8.85s, total=8.85s, count=1, min=8852.4ms, max=8852.4ms + physics_step: mean=22.5ms, total=6.20s, count=275, min=14.8ms, max=35.3ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3368.0ms, max=3368.0ms + task_sampling: mean=447.2ms, total=894.4ms, count=2, min=430.4ms, max=464.0ms + task_specific_sample: mean=443.9ms, total=887.8ms, count=2, min=427.7ms, max=460.1ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=424.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:12:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:12:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:12:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:12:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:12:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:12:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:12:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:12:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:12:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:12:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:12:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150476m [env.py: 870] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:12:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:12:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.444s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:12:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.157[m] 15.091[deg] [grasp_sample.py: 539] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.3ms, total=189.3ms [env.py: 1105] +05/12 08:12:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:12:30 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:12:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:12:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:12:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:12:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:12:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:12:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:12:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:12:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:12:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:12:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108727m [env.py: 870] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:12:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=170.5ms, total=170.5ms [env.py: 1105] +05/12 08:12:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:12:31 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:12:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:12:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:12:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:12:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:12:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:12:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:12:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153432m [env.py: 870] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:12:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61526523 -0.91774268 -0.15343247] yaw=-77.7deg [env.py: 1019] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:12:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=160.5ms, total=160.6ms [env.py: 1075] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.918, -0.153) [env.py: 1079] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg [env.py: 1082] +05/12 08:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:12:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:12:33 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 08:12:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 08:12:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:12:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:12:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:12:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.060s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:12:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.663[m] 91.935[deg] [grasp_sample.py: 539] +05/12 08:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:12:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:12:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:12:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:12:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:12:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:12:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:12:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:12:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.152[m] 14.545[deg] [grasp_sample.py: 539] +05/12 08:12:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:12:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:12:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:12:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:12:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:12:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:12:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:12:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.438s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:12:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.152[m] 14.544[deg] [grasp_sample.py: 539] +05/12 08:12:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:12:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:12:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:12:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:13:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:13:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:13:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:13:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:13:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.969s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:13:02 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.486[m] 62.906[deg] [grasp_sample.py: 539] +05/12 08:13:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:13:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:13:06 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:13:06 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:13:06 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=False episode_total=0.74s: + episode_total: mean=49.46s, total=98.93s, count=2, min=2991.4ms, max=95937.5ms + sensor_polling: mean=341.8ms, total=52.98s, count=155, min=299.3ms, max=560.2ms + physics_step: mean=20.1ms, total=3.12s, count=155, min=13.2ms, max=29.3ms + task_sampling: mean=370.7ms, total=741.4ms, count=2, min=369.8ms, max=371.6ms + task_specific_sample: mean=367.5ms, total=735.0ms, count=2, min=367.0ms, max=367.9ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.5ms + mj_forward_sync: mean=407.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:13:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:13:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:13:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173212m [env.py: 870] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5263168 -0.81904373 -0.17321209] yaw=-57.3deg [env.py: 1019] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30395183 -1.11765812 -0.17321209] yaw=-37.6deg [env.py: 1019] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52024455 -0.89148987 -0.17321209] yaw=-63.7deg [env.py: 1019] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.6ms, total=75.6ms [env.py: 1075] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -0.819, -0.173) [env.py: 1079] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 08:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:13:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:13:08 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 08:13:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 08:13:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:13:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:13:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:13:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.770[m] 96.466[deg] [grasp_sample.py: 539] +05/12 08:13:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:13:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:13:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:13:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:13:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:13:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:13:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:13:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:13:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:13:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:13:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.368s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:13:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.481[m] 62.173[deg] [grasp_sample.py: 539] +05/12 08:13:16 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:13:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:13:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:13:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:13:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:13:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:13:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:13:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:13:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:13:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108092m [env.py: 870] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:13:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.4ms, total=204.5ms [env.py: 1105] +05/12 08:13:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:13:18 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:13:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:13:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:13:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:13:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:13:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:13:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:13:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:13:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:13:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126635m [env.py: 870] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:13:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37672262 -0.88990966 -0.12663523] yaw=-55.2deg [env.py: 1019] +05/12 08:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:13:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.6ms [env.py: 1075] +05/12 08:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -0.890, -0.127) [env.py: 1079] +05/12 08:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 08:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 08:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:13:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:13:20 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 08:13:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:13:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:13:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:13:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:13:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:13:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:13:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.865s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:13:27 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 08:13:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:13:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:13:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:13:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:13:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:13:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:13:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167951m [env.py: 870] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:13:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48864246 -1.00140066 -0.16795138] yaw=-52.1deg [env.py: 1019] +05/12 08:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39507413 -1.08697847 -0.16795138] yaw=-59.0deg [env.py: 1019] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:13:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=353.9ms, total=354.0ms [env.py: 1075] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -1.001, -0.168) [env.py: 1079] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg [env.py: 1082] +05/12 08:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 08:13:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:13:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:13:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:13:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:13:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:13:29 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 08:13:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:13:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:13:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:13:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:13:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.975s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:13:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 88.145[deg] [grasp_sample.py: 539] +05/12 08:13:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:13:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:13:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:14:07 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:14:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:14:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:14:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:14:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:14:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.652s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:14:22 INFO: [Worker 0] Feasible grasp found 280 (originally 280): w/ 0.199[m] 8.536[deg] [grasp_sample.py: 539] +05/12 08:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:14:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:14:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:14:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:14:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:14:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:14:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:14:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:14:26 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:14:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:14:26 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 08:14:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.317s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:14:36 INFO: [Worker 0] Feasible grasp found 285 (originally 285): w/ 0.375[m] 20.872[deg] [grasp_sample.py: 539] +05/12 08:14:37 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:14:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:14:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:14:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:14:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:14:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:14:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163434m [env.py: 870] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:14:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42159732 -0.93101083 -0.16343386] yaw=-52.9deg [env.py: 1019] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.62757896 -0.98826091 -0.16343386] yaw=-77.8deg [env.py: 1019] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39911732 -1.1234055 -0.16343386] yaw=-39.7deg [env.py: 1019] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:14:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.1ms, total=137.2ms [env.py: 1075] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.931, -0.163) [env.py: 1079] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 08:14:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:14:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:14:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.27s (batch: 3.35s, save: 8.92s) [pipeline.py: 300] +05/12 08:14:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:14:38 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 08:14:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 08:14:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:14:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:14:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:14:39 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.50s: + episode_total: mean=153.97s, total=153.97s, count=1, min=153966.1ms, max=153966.1ms + sensor_polling: mean=371.3ms, total=105.81s, count=285, min=304.1ms, max=578.7ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8919.7ms, max=8919.7ms + physics_step: mean=22.0ms, total=6.28s, count=285, min=14.8ms, max=144.9ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3353.4ms, max=3353.4ms + task_sampling: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms + task_specific_sample: mean=495.3ms, total=495.3ms, count=1, min=495.3ms, max=495.3ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=428.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:14:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:14:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.694[m] 89.869[deg] [grasp_sample.py: 539] +05/12 08:14:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:14:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:14:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:14:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:14:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:14:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113929m [env.py: 870] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:14:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=228.9ms, total=229.0ms [env.py: 1105] +05/12 08:14:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:14:40 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:14:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:14:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:14:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:14:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:14:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:14:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:14:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:14:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188072m [env.py: 870] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:14:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17870398 -1.14697186 -0.18807212] yaw=-28.8deg [env.py: 1019] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:14:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=219.9ms [env.py: 1075] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -1.147, -0.188) [env.py: 1079] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.8 deg [env.py: 1082] +05/12 08:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:14:42 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 08:14:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 08:14:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:14:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:14:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:14:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:14:45 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.671[m] 77.778[deg] [grasp_sample.py: 539] +05/12 08:14:46 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:14:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:14:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:14:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:14:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:14:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:14:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164895m [env.py: 870] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:14:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20661627 -1.03520019 -0.16489492] yaw=-43.2deg [env.py: 1019] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.61543183 -0.88218304 -0.16489492] yaw=-64.2deg [env.py: 1019] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:14:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1075] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.207, -1.035, -0.165) [env.py: 1079] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.2 deg [env.py: 1082] +05/12 08:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:14:48 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 08:14:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 08:14:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:14:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:14:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:14:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.361s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:14:54 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.760[m] 98.144[deg] [grasp_sample.py: 539] +05/12 08:14:55 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:14:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:14:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:14:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:14:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:14:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:14:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108141m [env.py: 870] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:14:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38554084 -1.10545742 -0.10814122] yaw=-49.5deg [env.py: 1019] +05/12 08:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28596963 -1.06896127 -0.10814122] yaw=-41.1deg [env.py: 1019] +05/12 08:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:14:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.8ms, total=197.8ms [env.py: 1075] +05/12 08:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.105, -0.108) [env.py: 1079] +05/12 08:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/12 08:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 08:14:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:14:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:14:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:14:57 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 08:14:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:14:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:14:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:14:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:14:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:14:58 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.677[m] 88.243[deg] [grasp_sample.py: 539] +05/12 08:15:00 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:15:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163094m [env.py: 870] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26380162 -1.09387731 -0.16309448] yaw=-49.6deg [env.py: 1019] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=569.2ms, total=569.2ms [env.py: 1075] +05/12 08:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.094, -0.163) [env.py: 1079] +05/12 08:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 08:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 08:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:02 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.188s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.719[m] 81.820[deg] [grasp_sample.py: 539] +05/12 08:15:05 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:15:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137617m [env.py: 870] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.9ms, total=202.0ms [env.py: 1105] +05/12 08:15:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:15:06 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:15:07 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:15:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158569m [env.py: 870] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57910093 -0.70569537 -0.15856876] yaw=-61.8deg [env.py: 1019] +05/12 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.8ms, total=205.8ms [env.py: 1075] +05/12 08:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.579, -0.706, -0.159) [env.py: 1079] +05/12 08:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg [env.py: 1082] +05/12 08:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 08:15:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:08 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.461s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:15:09 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:15:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191688m [env.py: 870] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.3ms, total=194.4ms [env.py: 1105] +05/12 08:15:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:15:11 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:15:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182792m [env.py: 870] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20230858 -1.12730087 -0.18279178] yaw=-29.0deg [env.py: 1019] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41743522 -0.81747056 -0.18279178] yaw=-70.3deg [env.py: 1019] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.0ms, total=206.0ms [env.py: 1075] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.127, -0.183) [env.py: 1079] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.0 deg [env.py: 1082] +05/12 08:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:12 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.801s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:16 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.747[m] 84.993[deg] [grasp_sample.py: 539] +05/12 08:15:18 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:15:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189558m [env.py: 870] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=279.5ms, total=279.6ms [env.py: 1105] +05/12 08:15:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:15:19 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:15:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157455m [env.py: 870] +05/12 08:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45304117 -1.07983314 -0.1574548 ] yaw=-63.0deg [env.py: 1019] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1075] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -1.080, -0.157) [env.py: 1079] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/12 08:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 08:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:21 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.819s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.647[m] 87.968[deg] [grasp_sample.py: 539] +05/12 08:15:24 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:15:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133922m [env.py: 870] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37220535 -0.93794366 -0.13392213] yaw=-55.0deg [env.py: 1019] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.9ms, total=194.0ms [env.py: 1075] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.938, -0.134) [env.py: 1079] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 08:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:26 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:15:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:15:27 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 08:15:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.655s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:30 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.764[m] 98.846[deg] [grasp_sample.py: 539] +05/12 08:15:32 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:15:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129216m [env.py: 870] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.5ms, total=207.5ms [env.py: 1105] +05/12 08:15:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:15:33 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171836m [env.py: 870] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54907819 -0.77110393 -0.17183637] yaw=-66.1deg [env.py: 1019] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.0ms, total=199.0ms [env.py: 1075] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.771, -0.172) [env.py: 1079] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/12 08:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:35 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:15:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.503s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:15:36 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:15:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112081m [env.py: 870] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.56071273 -0.72181994 -0.11208141] yaw=-62.5deg [env.py: 1019] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.5ms [env.py: 1075] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.722, -0.112) [env.py: 1079] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 08:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:38 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:15:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:15:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:15:39 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:15:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:15:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:15:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.08s (batch: 3.30s, save: 8.78s) [pipeline.py: 300] +05/12 08:15:40 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.37s: + episode_total: mean=30.69s, total=184.11s, count=6, min=178.0ms, max=131791.9ms + sensor_polling: mean=327.0ms, total=107.91s, count=330, min=295.0ms, max=668.1ms + save_trajectories: mean=8.78s, total=8.78s, count=1, min=8782.3ms, max=8782.3ms + physics_step: mean=21.3ms, total=7.04s, count=330, min=14.5ms, max=90.4ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3298.4ms, max=3298.4ms + task_specific_sample: mean=324.2ms, total=1.95s, count=6, min=175.2ms, max=558.1ms + task_sampling: mean=458.2ms, total=1.37s, count=3, min=369.2ms, max=561.9ms + task_sampling_failed: mean=197.0ms, total=591.0ms, count=3, min=178.0ms, max=212.3ms + scene_randomize: mean=1.4ms, total=8.5ms, count=6, min=1.0ms, max=2.4ms + mj_forward_sync: mean=442.5us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=11.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141078m [env.py: 870] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1105] +05/12 08:15:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:15:41 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152212m [env.py: 870] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21489655 -0.95011911 -0.15221188] yaw=-53.8deg [env.py: 1019] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.1ms, total=190.1ms [env.py: 1075] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -0.950, -0.152) [env.py: 1079] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:42 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159772m [env.py: 870] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44004664 -0.90467699 -0.15977188] yaw=-57.0deg [env.py: 1019] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.4ms [env.py: 1075] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.905, -0.160) [env.py: 1079] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 08:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:43 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.476s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:15:44 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:15:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.885s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:44 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.106[m] 17.601[deg] [grasp_sample.py: 539] +05/12 08:15:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199286m [env.py: 870] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31023594 -0.975404 -0.19928557] yaw=-39.3deg [env.py: 1019] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.8ms [env.py: 1075] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -0.975, -0.199) [env.py: 1079] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/12 08:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:45 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:45 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:15:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.049s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.752[m] 87.077[deg] [grasp_sample.py: 539] +05/12 08:15:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:15:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:15:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:15:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:15:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:15:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149526m [env.py: 870] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41117657 -1.12185706 -0.14952561] yaw=-56.2deg [env.py: 1019] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55656082 -0.87205147 -0.14952561] yaw=-74.9deg [env.py: 1019] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:15:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.6ms [env.py: 1075] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -1.122, -0.150) [env.py: 1079] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 08:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:15:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:15:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:15:47 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 08:15:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 08:15:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:15:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:15:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:15:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.385s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:52 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.700[m] 90.800[deg] [grasp_sample.py: 539] +05/12 08:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:15:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:15:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:15:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:15:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.303s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:15:55 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.615[m] 88.203[deg] [grasp_sample.py: 539] +05/12 08:15:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:15:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:15:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:15:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:16:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:16:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:16:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:16:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:16:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:16:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:16:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:16:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:16:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:16:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:16:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:17:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:17:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:17:28 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:17:29 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:17:47 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:17:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:17:47 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 08:17:50 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:17:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:17:50 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 08:17:50 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:17:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:17:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:17:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.90s (batch: 3.32s, save: 8.59s) [pipeline.py: 300] +05/12 08:17:59 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=1.10s: + episode_total: mean=96.28s, total=288.83s, count=3, min=67354.5ms, max=132242.4ms + sensor_polling: mean=346.3ms, total=189.78s, count=548, min=295.0ms, max=655.8ms + physics_step: mean=21.7ms, total=11.90s, count=548, min=14.7ms, max=52.7ms + save_trajectories: mean=8.59s, total=8.59s, count=1, min=8585.5ms, max=8585.5ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3316.6ms, max=3316.6ms + task_sampling: mean=367.9ms, total=1.10s, count=3, min=277.2ms, max=446.9ms + task_specific_sample: mean=364.8ms, total=1.09s, count=3, min=274.9ms, max=443.7ms + scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=1.1ms, max=1.6ms + mj_forward_sync: mean=413.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:18:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:18:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:18:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:18:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:18:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:18:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163205m [env.py: 870] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:18:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39376058 -0.90091194 -0.16320468] yaw=-46.5deg [env.py: 1019] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms [env.py: 1075] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.901, -0.163) [env.py: 1079] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 08:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:18:01 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 08:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 08:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:18:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:18:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:18:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:18:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:18:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.48s (batch: 3.50s, save: 8.98s) [pipeline.py: 300] +05/12 08:18:03 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.86s: + episode_total: mean=70.00s, total=140.00s, count=2, min=2139.3ms, max=137857.0ms + sensor_polling: mean=322.2ms, total=89.57s, count=278, min=302.7ms, max=581.6ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8982.5ms, max=8982.5ms + physics_step: mean=20.9ms, total=5.81s, count=278, min=14.7ms, max=27.4ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3497.8ms, max=3497.8ms + task_sampling: mean=431.6ms, total=863.2ms, count=2, min=420.4ms, max=442.8ms + task_specific_sample: mean=428.3ms, total=856.6ms, count=2, min=417.7ms, max=438.8ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms + mj_forward_sync: mean=425.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:18:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:18:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:18:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132849m [env.py: 870] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18343098 -1.11708896 -0.13284887] yaw=-34.5deg [env.py: 1019] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.12249687 -1.08512409 -0.13284887] yaw=-37.5deg [env.py: 1019] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3480155 -0.87431064 -0.13284887] yaw=-53.7deg [env.py: 1019] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms [env.py: 1075] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -1.117, -0.133) [env.py: 1079] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg [env.py: 1082] +05/12 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:18:04 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 08:18:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 08:18:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:18:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:18:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:18:09 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:18:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:18:09 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 08:18:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.093s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:18:13 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.743[m] 77.747[deg] [grasp_sample.py: 539] +05/12 08:18:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:18:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:18:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:18:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:18:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.775s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:18:14 INFO: [Worker 0] Feasible grasp found 621 (originally 621): w/ 0.749[m] 84.778[deg] [grasp_sample.py: 539] +05/12 08:18:15 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:18:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:18:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:18:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:18:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:18:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:18:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173622m [env.py: 870] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:18:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=289.3ms, total=289.4ms [env.py: 1105] +05/12 08:18:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:18:17 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:18:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:18:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:18:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:18:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:18:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:18:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187423m [env.py: 870] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:18:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51810472 -0.76324222 -0.18742313] yaw=-62.0deg [env.py: 1019] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21131045 -0.92479926 -0.18742313] yaw=-39.6deg [env.py: 1019] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24568503 -0.91901582 -0.18742313] yaw=-49.1deg [env.py: 1019] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:18:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.2ms, total=182.3ms [env.py: 1075] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.763, -0.187) [env.py: 1079] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 08:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:18:19 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 08:18:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:18:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:18:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:18:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:18:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.662s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:18:20 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:18:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:18:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:18:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:18:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:18:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:18:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160254m [env.py: 870] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:18:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64396455 -0.9288253 -0.16025359] yaw=-66.3deg [env.py: 1019] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:18:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:18:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:18:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.41s (batch: 3.36s, save: 9.06s) [pipeline.py: 300] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.41603246 -1.00814391 -0.16025359] yaw=-61.7deg [env.py: 1019] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:18:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.2ms, total=162.2ms [env.py: 1075] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.644, -0.929, -0.160) [env.py: 1079] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 08:18:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:18:22 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 08:18:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:18:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:18:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:18:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:18:22 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=4.92s: + episode_total: mean=11.87s, total=201.85s, count=17, min=202.5ms, max=160107.7ms + sensor_polling: mean=367.7ms, total=105.15s, count=286, min=328.5ms, max=538.9ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9055.6ms, max=9055.6ms + task_specific_sample: mean=366.8ms, total=6.24s, count=17, min=199.3ms, max=782.9ms + physics_step: mean=21.2ms, total=6.05s, count=286, min=19.4ms, max=36.5ms + task_sampling: mean=447.2ms, total=4.92s, count=11, min=399.0ms, max=786.6ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3356.3ms, max=3356.3ms + task_sampling_failed: mean=227.2ms, total=1.36s, count=6, min=202.5ms, max=289.0ms + scene_randomize: mean=1.2ms, total=19.7ms, count=17, min=0.9ms, max=2.5ms + mj_forward_sync: mean=415.4us, total=7.1ms, count=17, min=0.4ms, max=0.6ms + policy_setup: mean=12.0us, total=0.1ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:18:24 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:18:24 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:18:24 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes [pipeline.py: 1323] +05/12 08:18:24 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=4445.03s + House averages: + episode_total: mean=34.89s, total=2512.09s, count=72, min=177.8ms, max=191161.0ms + sensor_polling: mean=389.0ms, total=1590.99s, count=4090, min=295.8ms, max=874.5ms + save_trajectories: mean=9.24s, total=120.08s, count=13, min=8510.6ms, max=9966.4ms + physics_step: mean=22.8ms, total=93.44s, count=4090, min=13.0ms, max=144.9ms + save_batch_prep: mean=3.43s, total=44.54s, count=13, min=3308.0ms, max=3653.1ms + task_sampling: mean=626.8ms, total=29.46s, count=47, min=349.3ms, max=7863.1ms + task_specific_sample: mean=382.2ms, total=27.52s, count=72, min=174.6ms, max=925.7ms + scene_load: mean=7.48s, total=7.48s, count=1, min=7477.1ms, max=7477.1ms + scene_compile: mean=6.00s, total=6.00s, count=1, min=5998.2ms, max=5998.2ms + task_sampling_failed: mean=230.2ms, total=5.76s, count=25, min=177.8ms, max=450.7ms + compile_mujoco: mean=5.56s, total=5.56s, count=1, min=5555.2ms, max=5555.2ms + scene_env_create: mean=1.34s, total=1.34s, count=1, min=1335.1ms, max=1335.1ms + compile_xml_load: mean=360.7ms, total=360.7ms, count=1, min=360.7ms, max=360.7ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + scene_randomize: mean=1.3ms, total=93.8ms, count=72, min=0.9ms, max=3.2ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=46.0ms, total=46.0ms, count=1, min=46.0ms, max=46.0ms + asset_install_grasps: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + mj_forward_sync: mean=411.2us, total=29.6ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=14.6us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 08:18:24 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:18:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4445.03s + Worker averages: + episode_total: mean=34.89s, total=2512.09s, count=72, min=177.8ms, max=191161.0ms + sensor_polling: mean=389.0ms, total=1590.99s, count=4090, min=295.8ms, max=874.5ms + save_trajectories: mean=9.24s, total=120.08s, count=13, min=8510.6ms, max=9966.4ms + physics_step: mean=22.8ms, total=93.44s, count=4090, min=13.0ms, max=144.9ms + save_batch_prep: mean=3.43s, total=44.54s, count=13, min=3308.0ms, max=3653.1ms + task_sampling: mean=626.8ms, total=29.46s, count=47, min=349.3ms, max=7863.1ms + task_specific_sample: mean=382.2ms, total=27.52s, count=72, min=174.6ms, max=925.7ms + scene_load: mean=7.48s, total=7.48s, count=1, min=7477.1ms, max=7477.1ms + scene_compile: mean=6.00s, total=6.00s, count=1, min=5998.2ms, max=5998.2ms + task_sampling_failed: mean=230.2ms, total=5.76s, count=25, min=177.8ms, max=450.7ms + compile_mujoco: mean=5.56s, total=5.56s, count=1, min=5555.2ms, max=5555.2ms + scene_env_create: mean=1.34s, total=1.34s, count=1, min=1335.1ms, max=1335.1ms + compile_xml_load: mean=360.7ms, total=360.7ms, count=1, min=360.7ms, max=360.7ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + scene_randomize: mean=1.3ms, total=93.8ms, count=72, min=0.9ms, max=3.2ms + compile_aux_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + compile_aux_policy_objects: mean=49.6ms, total=49.6ms, count=1, min=49.6ms, max=49.6ms + scene_asset_install: mean=46.0ms, total=46.0ms, count=1, min=46.0ms, max=46.0ms + asset_install_grasps: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + mj_forward_sync: mean=411.2us, total=29.6ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=14.6us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 08:18:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.408s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:18:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.639[m] 88.758[deg] [grasp_sample.py: 539] +05/12 08:18:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:18:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:18:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:18:26 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 08:18:26 INFO: Success count: 13, Total count: 14 [pipeline.py: 1491] +05/12 08:18:26 INFO: Success rate: 92.86% [pipeline.py: 1492] +05/12 08:18:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:18:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:18:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:18:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:18:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:18:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:18:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.970s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:18:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.490[m] 63.048[deg] [grasp_sample.py: 539] +05/12 08:18:52 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:18:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:18:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:18:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:18:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:18:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:18:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:18:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135618m [env.py: 870] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:18:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46071592 -1.09586905 -0.1356178 ] yaw=-57.0deg [env.py: 1019] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32064566 -1.20677616 -0.1356178 ] yaw=-40.6deg [env.py: 1019] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31648943 -0.98270122 -0.1356178 ] yaw=-57.7deg [env.py: 1019] +05/12 08:18:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:18:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.3ms, total=179.3ms [env.py: 1075] +05/12 08:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.461, -1.096, -0.136) [env.py: 1079] +05/12 08:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 08:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 08:18:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:18:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:18:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:18:54 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 08:18:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 08:18:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:18:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:18:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:18:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.808s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:18:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.589[m] 86.604[deg] [grasp_sample.py: 539] +05/12 08:18:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:18:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:18:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:19:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:19:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:19:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.300s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:19:16 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.179[m] 12.956[deg] [grasp_sample.py: 539] +05/12 08:19:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:19:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:19:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:19:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:19:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:19:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.089s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:19:21 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.451[m] 62.540[deg] [grasp_sample.py: 539] +05/12 08:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:22 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:19:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:19:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:19:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:19:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:19:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:19:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114149m [env.py: 870] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:19:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=154.0ms, total=154.0ms [env.py: 1105] +05/12 08:19:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:19:24 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:19:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:19:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:19:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:19:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155550m [env.py: 870] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3703199 -1.03836586 -0.15554963] yaw=-50.3deg [env.py: 1019] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.6ms [env.py: 1075] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.038, -0.156) [env.py: 1079] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 08:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:19:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:19:25 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 08:19:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 08:19:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:19:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:19:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.904s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:19:28 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.720[m] 88.624[deg] [grasp_sample.py: 539] +05/12 08:19:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:19:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:19:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:19:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:19:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:19:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:19:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:19:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.220s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:19:38 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.167[m] 12.216[deg] [grasp_sample.py: 539] +05/12 08:19:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:19:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:19:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:19:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:19:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:19:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:19:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:19:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.239s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:19:56 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.167[m] 12.214[deg] [grasp_sample.py: 539] +05/12 08:19:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:19:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:19:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:20:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:20:07 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:20:07 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:20:07 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=False episode_total=0.40s: + episode_total: mean=126.87s, total=126.87s, count=1, min=126873.0ms, max=126873.0ms + sensor_polling: mean=332.5ms, total=51.87s, count=156, min=291.9ms, max=542.4ms + physics_step: mean=20.6ms, total=3.22s, count=156, min=12.9ms, max=60.9ms + task_sampling: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms + task_specific_sample: mean=394.1ms, total=394.1ms, count=1, min=394.1ms, max=394.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=422.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:20:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:20:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:20:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:20:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:20:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:20:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:20:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:20:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:20:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:20:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:20:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199508m [env.py: 870] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:20:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:20:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52860918 -0.83598245 -0.19950787] yaw=-61.8deg [env.py: 1019] +05/12 08:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:20:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.3ms, total=160.4ms [env.py: 1075] +05/12 08:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.836, -0.200) [env.py: 1079] +05/12 08:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg [env.py: 1082] +05/12 08:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 08:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:20:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:20:09 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 08:20:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 08:20:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:20:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:20:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:20:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.106s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:20:14 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.728[m] 93.860[deg] [grasp_sample.py: 539] +05/12 08:20:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:20:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:20:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:20:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:20:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:20:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:20:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:21:04 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:21:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:21:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:21:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:21:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:21:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:21:24 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:21:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:21:24 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 08:21:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.807s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:21:24 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.181[m] 12.051[deg] [grasp_sample.py: 539] +05/12 08:21:25 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:21:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127686m [env.py: 870] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.1ms, total=206.1ms [env.py: 1105] +05/12 08:21:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:21:27 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:21:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124244m [env.py: 870] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58931221 -0.84442424 -0.12424438] yaw=-71.7deg [env.py: 1019] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.6ms [env.py: 1075] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.844, -0.124) [env.py: 1079] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.7 deg [env.py: 1082] +05/12 08:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:21:29 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 08:21:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 08:21:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:21:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:21:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:21:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:21:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:21:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.04s (batch: 3.53s, save: 8.51s) [pipeline.py: 300] +05/12 08:21:37 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.89s: + episode_total: mean=29.34s, total=205.40s, count=7, min=162.7ms, max=131842.1ms + sensor_polling: mean=310.5ms, total=113.32s, count=365, min=285.5ms, max=551.1ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8510.9ms, max=8510.9ms + physics_step: mean=20.2ms, total=7.38s, count=365, min=14.4ms, max=28.7ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3527.0ms, max=3527.0ms + task_specific_sample: mean=332.4ms, total=2.33s, count=7, min=158.7ms, max=439.1ms + task_sampling: mean=377.4ms, total=1.89s, count=5, min=324.1ms, max=442.5ms + task_sampling_failed: mean=230.5ms, total=461.1ms, count=2, min=162.7ms, max=298.4ms + scene_randomize: mean=1.2ms, total=8.7ms, count=7, min=1.0ms, max=2.2ms + mj_forward_sync: mean=437.2us, total=3.1ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=11.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:21:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189410m [env.py: 870] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=220.1ms, total=220.2ms [env.py: 1105] +05/12 08:21:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:21:38 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:21:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:21:39 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.758[m] 86.792[deg] [grasp_sample.py: 539] +05/12 08:21:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:21:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120652m [env.py: 870] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=240.2ms, total=240.2ms [env.py: 1105] +05/12 08:21:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:21:39 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:21:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:21:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:21:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:21:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143296m [env.py: 870] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29874701 -0.88088671 -0.14329629] yaw=-47.3deg [env.py: 1019] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:21:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=247.4ms, total=247.5ms [env.py: 1075] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.881, -0.143) [env.py: 1079] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/12 08:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:21:41 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 08:21:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 08:21:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:21:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:21:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:21:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.863s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:21:43 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:21:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112236m [env.py: 870] +05/12 08:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34059607 -1.16422875 -0.11223635] yaw=-45.9deg [env.py: 1019] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:21:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=198.9ms [env.py: 1075] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.341, -1.164, -0.112) [env.py: 1079] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 08:21:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 08:21:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:21:45 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 08:21:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:21:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:21:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:21:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:21:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.922s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:21:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.652[m] 82.874[deg] [grasp_sample.py: 539] +05/12 08:21:47 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129560m [env.py: 870] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18330108 -1.1249029 -0.12955995] yaw=-42.1deg [env.py: 1019] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.6ms [env.py: 1075] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -1.125, -0.130) [env.py: 1079] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/12 08:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:21:49 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 08:21:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 08:21:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:21:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:21:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:21:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.973s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:21:54 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.741[m] 89.217[deg] [grasp_sample.py: 539] +05/12 08:21:55 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:21:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167530m [env.py: 870] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.6ms, total=192.6ms [env.py: 1105] +05/12 08:21:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:21:56 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:21:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:21:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:21:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:21:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:21:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:21:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130821m [env.py: 870] +05/12 08:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:21:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29095847 -1.01974606 -0.13082122] yaw=-41.2deg [env.py: 1019] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30483378 -0.98920807 -0.13082122] yaw=-51.2deg [env.py: 1019] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:21:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms [env.py: 1075] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.020, -0.131) [env.py: 1079] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg [env.py: 1082] +05/12 08:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 08:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:21:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:21:58 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 08:21:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:21:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:21:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:21:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.034s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:22:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.714[m] 86.812[deg] [grasp_sample.py: 539] +05/12 08:22:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:22:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:22:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:22:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:22:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:22:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:22:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:22:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:22:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:22:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.013s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:22:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.572[m] 59.359[deg] [grasp_sample.py: 539] +05/12 08:22:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:22:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:22:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:22:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:22:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:22:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:22:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:22:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.338s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:22:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.571[m] 59.052[deg] [grasp_sample.py: 539] +05/12 08:22:21 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:22:22 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:22:22 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:22:22 INFO: [Worker 0] Worker 0 completed house 1: 12/15 successful episodes [pipeline.py: 1323] +05/12 08:22:22 INFO: [Worker 0] [PROFILE] House 1 complete: 12/15 successful, 15 episodes, total_time=4721.20s + House averages: + episode_total: mean=38.19s, total=2749.38s, count=72, min=170.6ms, max=166755.7ms + sensor_polling: mean=354.9ms, total=1646.23s, count=4639, min=291.2ms, max=773.2ms + save_trajectories: mean=9.28s, total=111.41s, count=12, min=8088.8ms, max=10719.9ms + physics_step: mean=22.5ms, total=104.22s, count=4639, min=12.9ms, max=85.1ms + save_batch_prep: mean=3.42s, total=41.09s, count=12, min=3160.1ms, max=4167.2ms + task_specific_sample: mean=400.7ms, total=28.85s, count=72, min=167.9ms, max=1143.7ms + task_sampling: mean=570.4ms, total=23.96s, count=42, min=277.2ms, max=3634.3ms + task_sampling_failed: mean=276.5ms, total=8.29s, count=30, min=170.6ms, max=911.3ms + scene_load: mean=3.16s, total=3.16s, count=1, min=3163.7ms, max=3163.7ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1793.2ms, max=1793.2ms + scene_compile: mean=1.23s, total=1.23s, count=1, min=1227.1ms, max=1227.1ms + compile_mujoco: mean=895.5ms, total=895.5ms, count=1, min=895.5ms, max=895.5ms + compile_xml_load: mean=247.7ms, total=247.7ms, count=1, min=247.7ms, max=247.7ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + scene_randomize: mean=1.3ms, total=96.9ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + scene_asset_install: mean=45.2ms, total=45.2ms, count=1, min=45.2ms, max=45.2ms + asset_install_grasps: mean=31.3ms, total=31.3ms, count=1, min=31.3ms, max=31.3ms + mj_forward_sync: mean=428.6us, total=30.9ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=14.6us, total=0.6ms, count=42, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 08:22:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:22:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4721.20s + Worker averages: + episode_total: mean=38.19s, total=2749.38s, count=72, min=170.6ms, max=166755.7ms + sensor_polling: mean=354.9ms, total=1646.23s, count=4639, min=291.2ms, max=773.2ms + save_trajectories: mean=9.28s, total=111.41s, count=12, min=8088.8ms, max=10719.9ms + physics_step: mean=22.5ms, total=104.22s, count=4639, min=12.9ms, max=85.1ms + save_batch_prep: mean=3.42s, total=41.09s, count=12, min=3160.1ms, max=4167.2ms + task_specific_sample: mean=400.7ms, total=28.85s, count=72, min=167.9ms, max=1143.7ms + task_sampling: mean=570.4ms, total=23.96s, count=42, min=277.2ms, max=3634.3ms + task_sampling_failed: mean=276.5ms, total=8.29s, count=30, min=170.6ms, max=911.3ms + scene_load: mean=3.16s, total=3.16s, count=1, min=3163.7ms, max=3163.7ms + scene_env_create: mean=1.79s, total=1.79s, count=1, min=1793.2ms, max=1793.2ms + scene_compile: mean=1.23s, total=1.23s, count=1, min=1227.1ms, max=1227.1ms + compile_mujoco: mean=895.5ms, total=895.5ms, count=1, min=895.5ms, max=895.5ms + compile_xml_load: mean=247.7ms, total=247.7ms, count=1, min=247.7ms, max=247.7ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + scene_randomize: mean=1.3ms, total=96.9ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + scene_asset_install: mean=45.2ms, total=45.2ms, count=1, min=45.2ms, max=45.2ms + asset_install_grasps: mean=31.3ms, total=31.3ms, count=1, min=31.3ms, max=31.3ms + mj_forward_sync: mean=428.6us, total=30.9ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=14.6us, total=0.6ms, count=42, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 08:22:24 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 08:22:24 INFO: Success count: 12, Total count: 15 [pipeline.py: 1491] +05/12 08:22:24 INFO: Success rate: 80.00% [pipeline.py: 1492] +05/12 08:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:22:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:23:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:23:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:23:19 INFO: [Worker 0] Object is not in grasp! 0.00196 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:23:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:23:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:23:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:23:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 08:23:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.305s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:23:21 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.055[m] 8.554[deg] [grasp_sample.py: 539] +05/12 08:23:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:23:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:23:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:23:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:23:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:23:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:23:41 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:23:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:23:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:23:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:23:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 363 non-colliding grasps [grasp_sample.py: 465] +05/12 08:23:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.632s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:23:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.047[m] 23.679[deg] [grasp_sample.py: 539] +05/12 08:23:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:23:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:23:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:23:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:23:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:23:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:24:06 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:24:27 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 08:24:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:24:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:24:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:24:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 08:24:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.48s (batch: 3.29s, save: 9.19s) [pipeline.py: 300] +05/12 08:24:40 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.73s: + episode_total: mean=25.00s, total=175.00s, count=7, min=200.2ms, max=162667.9ms + sensor_polling: mean=332.9ms, total=99.86s, count=300, min=258.5ms, max=588.3ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9187.2ms, max=9187.2ms + physics_step: mean=20.6ms, total=6.17s, count=300, min=18.9ms, max=28.7ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3291.7ms, max=3291.7ms + task_specific_sample: mean=341.6ms, total=2.39s, count=7, min=197.2ms, max=498.6ms + task_sampling: mean=433.0ms, total=1.73s, count=4, min=400.7ms, max=500.7ms + task_sampling_failed: mean=226.2ms, total=678.6ms, count=3, min=200.1ms, max=248.1ms + scene_randomize: mean=1.2ms, total=8.5ms, count=7, min=0.9ms, max=2.6ms + mj_forward_sync: mean=401.7us, total=2.8ms, count=7, min=0.3ms, max=0.4ms + policy_setup: mean=11.4us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:24:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:24:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:24:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:24:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:24:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:24:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:24:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:24:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:24:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187928m [env.py: 870] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:24:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:24:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=323.6ms, total=323.6ms [env.py: 1105] +05/12 08:24:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:24:42 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:24:43 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:24:43 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 08:24:43 INFO: [Worker 0] Worker 0 completed house 1: 13/18 successful episodes [pipeline.py: 1323] +05/12 08:24:43 INFO: [Worker 0] [PROFILE] House 1 complete: 13/18 successful, 18 episodes, total_time=5091.32s + House averages: + episode_total: mean=40.14s, total=2890.13s, count=72, min=162.7ms, max=162667.9ms + sensor_polling: mean=346.3ms, total=1846.60s, count=5332, min=258.5ms, max=759.5ms + save_trajectories: mean=9.35s, total=121.49s, count=13, min=8510.9ms, max=11743.5ms + physics_step: mean=22.3ms, total=118.86s, count=5332, min=13.4ms, max=152.7ms + save_batch_prep: mean=3.42s, total=44.44s, count=13, min=3291.7ms, max=3591.5ms + task_specific_sample: mean=400.6ms, total=28.84s, count=72, min=158.7ms, max=810.3ms + task_sampling: mean=546.0ms, total=26.75s, count=49, min=324.1ms, max=4019.4ms + task_sampling_failed: mean=248.4ms, total=5.71s, count=23, min=162.7ms, max=489.2ms + scene_load: mean=3.39s, total=3.39s, count=1, min=3393.3ms, max=3393.3ms + scene_env_create: mean=1.76s, total=1.76s, count=1, min=1764.6ms, max=1764.6ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1482.0ms, max=1482.0ms + compile_mujoco: mean=915.2ms, total=915.2ms, count=1, min=915.2ms, max=915.2ms + compile_xml_load: mean=480.4ms, total=480.4ms, count=1, min=480.4ms, max=480.4ms + scene_randomize: mean=1.4ms, total=100.0ms, count=72, min=0.9ms, max=5.0ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + asset_install_grasps: mean=32.3ms, total=32.3ms, count=1, min=32.3ms, max=32.3ms + mj_forward_sync: mean=429.3us, total=30.9ms, count=72, min=0.3ms, max=0.7ms + compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + policy_setup: mean=13.4us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 08:24:43 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 08:24:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=5091.32s + Worker averages: + episode_total: mean=40.14s, total=2890.13s, count=72, min=162.7ms, max=162667.9ms + sensor_polling: mean=346.3ms, total=1846.60s, count=5332, min=258.5ms, max=759.5ms + save_trajectories: mean=9.35s, total=121.49s, count=13, min=8510.9ms, max=11743.5ms + physics_step: mean=22.3ms, total=118.86s, count=5332, min=13.4ms, max=152.7ms + save_batch_prep: mean=3.42s, total=44.44s, count=13, min=3291.7ms, max=3591.5ms + task_specific_sample: mean=400.6ms, total=28.84s, count=72, min=158.7ms, max=810.3ms + task_sampling: mean=546.0ms, total=26.75s, count=49, min=324.1ms, max=4019.4ms + task_sampling_failed: mean=248.4ms, total=5.71s, count=23, min=162.7ms, max=489.2ms + scene_load: mean=3.39s, total=3.39s, count=1, min=3393.3ms, max=3393.3ms + scene_env_create: mean=1.76s, total=1.76s, count=1, min=1764.6ms, max=1764.6ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1482.0ms, max=1482.0ms + compile_mujoco: mean=915.2ms, total=915.2ms, count=1, min=915.2ms, max=915.2ms + compile_xml_load: mean=480.4ms, total=480.4ms, count=1, min=480.4ms, max=480.4ms + scene_randomize: mean=1.4ms, total=100.0ms, count=72, min=0.9ms, max=5.0ms + scene_init: mean=97.5ms, total=97.5ms, count=1, min=97.5ms, max=97.5ms + compile_aux_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + compile_aux_policy_objects: mean=50.5ms, total=50.5ms, count=1, min=50.5ms, max=50.5ms + scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + asset_install_grasps: mean=32.3ms, total=32.3ms, count=1, min=32.3ms, max=32.3ms + mj_forward_sync: mean=429.3us, total=30.9ms, count=72, min=0.3ms, max=0.7ms + compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + policy_setup: mean=13.4us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 08:24:45 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 08:24:45 INFO: Success count: 13, Total count: 18 [pipeline.py: 1491] +05/12 08:24:45 INFO: Success rate: 72.22% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_014/experiment_config_20260512_082611.pkl b/3drawers/sim_chunks/chunk_014/experiment_config_20260512_082611.pkl new file mode 100644 index 0000000000000000000000000000000000000000..44976853f8b9b8dd23eb217fb2ab72130c4b0eec --- /dev/null +++ b/3drawers/sim_chunks/chunk_014/experiment_config_20260512_082611.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60e77138b2af51a75fd5867ea3e227a2fa7a06d6ff66d930c4c7e94c79573092 +size 8146 diff --git 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a/3drawers/sim_chunks/chunk_014/experiment_config_20260512_082616.pkl b/3drawers/sim_chunks/chunk_014/experiment_config_20260512_082616.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c6120e0deefaee72e421daf1f375fe82c45c5531 --- /dev/null +++ b/3drawers/sim_chunks/chunk_014/experiment_config_20260512_082616.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:416125ab388601ad74991a934682af750dc23932593fc9d5bcfba64985928cd9 +size 8146 diff --git a/3drawers/sim_chunks/chunk_014/running_log.log b/3drawers/sim_chunks/chunk_014/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..682e7d55d4683eadd458fbaefc622a1feb82b313 --- /dev/null +++ b/3drawers/sim_chunks/chunk_014/running_log.log @@ -0,0 +1,14274 @@ +05/12 08:26:11 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 08:26:11 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 08:26:11 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 08:26:11 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41404, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 08:26:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 08:26:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:26:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:26:12 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:26:13 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 08:26:13 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 08:26:13 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 08:26:13 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41402, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 08:26:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 08:26:13 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:26:13 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:26:14 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:26:14 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 08:26:14 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 08:26:14 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 08:26:14 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41401, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 08:26:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 08:26:14 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:26:14 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:26:14 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:26:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 08:26:14 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:26:14 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:26:14 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:26:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121762m [env.py: 870] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38610279 -1.06637397 -0.12176189] yaw=-52.5deg [env.py: 1019] +05/12 08:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5720341 -1.00167371 -0.12176189] yaw=-59.5deg [env.py: 1019] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51707883 -0.84119573 -0.12176189] yaw=-53.9deg [env.py: 1019] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=16.5ms, retries=133.1ms, total=149.6ms [env.py: 1075] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.066, -0.122) [env.py: 1079] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/12 08:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 08:26:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:26:15 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 08:26:16 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 08:26:16 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:26:16 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:26:16 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:26:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164583m [env.py: 870] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:16 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.6ms, retries=201.5ms, total=218.1ms [env.py: 1105] +05/12 08:26:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:26:16 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:26:16 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 08:26:16 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:26:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 08:26:16 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 08:26:16 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 08:26:16 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41403, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 08:26:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 08:26:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 08:26:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 08:26:16 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:26:16 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:26:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162590m [env.py: 870] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:16 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21650522 -1.1294851 -0.16259011] yaw=-30.2deg [env.py: 1019] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=17.5ms, retries=190.5ms, total=208.0ms [env.py: 1075] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.129, -0.163) [env.py: 1079] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.2 deg [env.py: 1082] +05/12 08:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:17 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 08:26:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:26:17 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 08:26:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162662m [env.py: 870] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52885356 -0.74147695 -0.16266217] yaw=-57.7deg [env.py: 1019] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28530516 -1.21179506 -0.16266217] yaw=-44.4deg [env.py: 1019] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=198.1ms, total=198.2ms [env.py: 1075] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.741, -0.163) [env.py: 1079] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg [env.py: 1082] +05/12 08:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:26:18 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 08:26:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 08:26:19 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 08:26:19 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 08:26:19 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 08:26:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162702m [env.py: 870] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:19 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64979128 -0.90543466 -0.16270165] yaw=-68.8deg [env.py: 1019] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58232296 -0.87525214 -0.16270165] yaw=-58.9deg [env.py: 1019] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.4ms, retries=206.9ms, total=223.3ms [env.py: 1075] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.905, -0.163) [env.py: 1079] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg [env.py: 1082] +05/12 08:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:26:19 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 08:26:43 INFO: [Worker 0] Warmed up parallel IK solver in 28.569s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:26:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.988s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.714[m] 80.874[deg] [grasp_sample.py: 539] +05/12 08:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 28.395s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:26:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.203s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 29.663s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:26:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:47 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:26:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.912s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:26:48 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:26:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158781m [env.py: 870] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=247.2ms, total=247.3ms [env.py: 1105] +05/12 08:26:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:26:49 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:26:49 INFO: [Worker 0] Warmed up parallel IK solver in 30.117s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:26:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135937m [env.py: 870] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=198.6ms, total=198.7ms [env.py: 1105] +05/12 08:26:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:26:50 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149722m [env.py: 870] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30294854 -1.03507166 -0.14972207] yaw=-44.9deg [env.py: 1019] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23945524 -0.94012617 -0.14972207] yaw=-58.3deg [env.py: 1019] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45464056 -1.04798643 -0.14972207] yaw=-62.9deg [env.py: 1019] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.1ms, total=137.2ms [env.py: 1075] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.303, -1.035, -0.150) [env.py: 1079] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/12 08:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.958s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:50 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.686[m] 88.242[deg] [grasp_sample.py: 539] +05/12 08:26:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:26:51 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 08:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:26:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113977m [env.py: 870] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.8ms, total=203.9ms [env.py: 1105] +05/12 08:26:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:26:51 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:26:52 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:26:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194925m [env.py: 870] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=278.6ms, total=278.6ms [env.py: 1105] +05/12 08:26:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:26:53 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:26:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156316m [env.py: 870] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=204.1ms, total=204.1ms [env.py: 1105] +05/12 08:26:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:26:53 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:26:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.414s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.728[m] 76.196[deg] [grasp_sample.py: 539] +05/12 08:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144341m [env.py: 870] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30041929 -1.19968227 -0.14434112] yaw=-43.7deg [env.py: 1019] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58909309 -0.81356907 -0.14434112] yaw=-75.1deg [env.py: 1019] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.8ms [env.py: 1075] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.200, -0.144) [env.py: 1079] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 08:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:26:55 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 08:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159178m [env.py: 870] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:26:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19770625 -1.10592111 -0.15917829] yaw=-28.8deg [env.py: 1019] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:26:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms [env.py: 1075] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.106, -0.159) [env.py: 1079] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.8 deg [env.py: 1082] +05/12 08:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:26:55 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 08:26:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.345s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:55 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.769[m] 77.303[deg] [grasp_sample.py: 539] +05/12 08:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:26:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:26:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:26:56 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:26:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.694s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:57 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.740[m] 77.398[deg] [grasp_sample.py: 539] +05/12 08:26:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.910s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:26:58 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.686[m] 94.174[deg] [grasp_sample.py: 539] +05/12 08:26:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175613m [env.py: 870] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:26:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.6ms, total=198.6ms [env.py: 1105] +05/12 08:26:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:26:58 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:26:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:26:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:26:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:26:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159924m [env.py: 870] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22422133 -0.99003458 -0.15992384] yaw=-40.4deg [env.py: 1019] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.4ms [env.py: 1075] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -0.990, -0.160) [env.py: 1079] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg [env.py: 1082] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:26:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:26:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:26:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165163m [env.py: 870] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:27:00 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 08:27:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 08:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:27:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=314.7ms, total=314.7ms [env.py: 1105] +05/12 08:27:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:27:00 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:27:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:27:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:27:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:27:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:27:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185844m [env.py: 870] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:27:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2718482 -0.98271954 -0.18584392] yaw=-50.4deg [env.py: 1019] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:27:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.279s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:27:01 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37788035 -1.11240877 -0.18584392] yaw=-56.8deg [env.py: 1019] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32256816 -1.17817563 -0.18584392] yaw=-51.7deg [env.py: 1019] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.7ms [env.py: 1075] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -0.983, -0.186) [env.py: 1079] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 08:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:27:01 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 08:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 08:27:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:27:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:27:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:27:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:27:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:27:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:27:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155067m [env.py: 870] +05/12 08:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:27:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=195.2ms, total=195.2ms [env.py: 1105] +05/12 08:27:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:27:03 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:27:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:27:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:27:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:27:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121492m [env.py: 870] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:27:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.4ms, total=202.4ms [env.py: 1105] +05/12 08:27:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:27:04 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:27:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:27:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177021m [env.py: 870] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.6ms, total=199.7ms [env.py: 1105] +05/12 08:27:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:27:06 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:27:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:27:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:27:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:27:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176738m [env.py: 870] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:27:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.0ms, total=194.1ms [env.py: 1105] +05/12 08:27:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:27:07 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:27:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:27:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:27:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:27:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:27:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:27:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157892m [env.py: 870] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:27:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46509814 -1.03617999 -0.1578919 ] yaw=-64.7deg [env.py: 1019] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38463741 -0.82870303 -0.1578919 ] yaw=-56.3deg [env.py: 1019] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24703077 -1.15294425 -0.1578919 ] yaw=-49.8deg [env.py: 1019] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:27:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.1ms [env.py: 1075] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -1.036, -0.158) [env.py: 1079] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 08:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:27:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:27:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:27:08 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 08:27:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:27:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:27:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:27:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:27:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.524s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:27:09 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.768[m] 94.018[deg] [grasp_sample.py: 539] +05/12 08:27:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:27:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:27:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:27:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.012s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:27:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.644[m] 102.753[deg] [grasp_sample.py: 539] +05/12 08:27:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:27:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:27:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:27:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:27:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:27:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:27:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:28:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:28:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:28:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:28:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:26 INFO: [Worker 0] Object is not in grasp! 0.00156 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:28:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:28:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:28:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:28:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/12 08:28:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.342s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:28:27 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.068[m] 5.367[deg] [grasp_sample.py: 539] +05/12 08:28:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:28:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:28:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:36 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:28:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:28:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:28:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:28:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:28:58 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:28:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:28:58 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 08:29:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:29:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:29:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.29s (batch: 3.65s, save: 9.64s) [pipeline.py: 300] +05/12 08:29:12 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.98s: + episode_total: mean=178.29s, total=178.29s, count=1, min=178294.0ms, max=178294.0ms + sensor_polling: mean=331.0ms, total=93.34s, count=282, min=302.1ms, max=608.9ms + save_trajectories: mean=9.64s, total=9.64s, count=1, min=9637.4ms, max=9637.4ms + physics_step: mean=21.6ms, total=6.10s, count=282, min=19.3ms, max=46.3ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3648.4ms, max=3648.4ms + task_sampling: mean=2.98s, total=2.98s, count=1, min=2984.9ms, max=2984.9ms + scene_load: mean=2.48s, total=2.48s, count=1, min=2475.0ms, max=2475.0ms + scene_env_create: mean=1.43s, total=1.43s, count=1, min=1432.2ms, max=1432.2ms + scene_compile: mean=846.1ms, total=846.1ms, count=1, min=846.1ms, max=846.1ms + compile_mujoco: mean=536.1ms, total=536.1ms, count=1, min=536.1ms, max=536.1ms + task_specific_sample: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms + compile_xml_load: mean=244.1ms, total=244.1ms, count=1, min=244.1ms, max=244.1ms + scene_init: mean=109.5ms, total=109.5ms, count=1, min=109.5ms, max=109.5ms + scene_asset_install: mean=87.0ms, total=87.0ms, count=1, min=87.0ms, max=87.0ms + asset_install_grasps: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + asset_install_objects: mean=22.0ms, total=22.0ms, count=1, min=22.0ms, max=22.0ms + asset_install_scene: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=438.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:29:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106394m [env.py: 870] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33907321 -0.8366917 -0.10639418] yaw=-47.1deg [env.py: 1019] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:29:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=248.9ms, total=248.9ms [env.py: 1075] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -0.837, -0.106) [env.py: 1079] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/12 08:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:29:14 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 08:29:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 08:29:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:29:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:15 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:29:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:29:15 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 08:29:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.393s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:29:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:29:16 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:29:16 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:29:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:29:17 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 08:29:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195897m [env.py: 870] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2110578 -1.05492942 -0.19589715] yaw=-46.7deg [env.py: 1019] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:29:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.9ms, total=160.0ms [env.py: 1075] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.211, -1.055, -0.196) [env.py: 1079] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/12 08:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:29:17 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 08:29:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 08:29:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:29:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:29:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:29:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.83s (batch: 3.93s, save: 9.90s) [pipeline.py: 300] +05/12 08:29:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.819s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:29 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.717[m] 83.040[deg] [grasp_sample.py: 539] +05/12 08:29:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:29:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:29:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.88s (batch: 3.70s, save: 9.18s) [pipeline.py: 300] +05/12 08:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:29:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:29:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:30 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=3.87s: + episode_total: mean=37.68s, total=188.41s, count=5, min=212.4ms, max=148914.0ms + sensor_polling: mean=321.4ms, total=93.84s, count=292, min=303.8ms, max=473.6ms + save_trajectories: mean=9.90s, total=9.90s, count=1, min=9902.7ms, max=9902.7ms + physics_step: mean=21.1ms, total=6.15s, count=292, min=15.1ms, max=35.5ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3931.8ms, max=3931.8ms + task_sampling: mean=1.29s, total=3.87s, count=3, min=440.7ms, max=2975.2ms + scene_load: mean=2.50s, total=2.50s, count=1, min=2497.1ms, max=2497.1ms + task_specific_sample: mean=380.3ms, total=1.90s, count=5, min=209.1ms, max=475.9ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1484.9ms, max=1484.9ms + scene_compile: mean=868.7ms, total=868.7ms, count=1, min=868.7ms, max=868.7ms + compile_mujoco: mean=541.3ms, total=541.3ms, count=1, min=541.3ms, max=541.3ms + task_sampling_failed: mean=269.3ms, total=538.5ms, count=2, min=212.3ms, max=326.2ms + compile_xml_load: mean=217.7ms, total=217.7ms, count=1, min=217.7ms, max=217.7ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=91.6ms, total=91.6ms, count=1, min=91.6ms, max=91.6ms + compile_aux_policy_objects: mean=91.6ms, total=91.6ms, count=1, min=91.6ms, max=91.6ms + scene_asset_install: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + asset_install_grasps: mean=32.7ms, total=32.7ms, count=1, min=32.7ms, max=32.7ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + compile_robot_add: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + scene_randomize: mean=1.0ms, total=5.2ms, count=5, min=0.9ms, max=1.2ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=431.5us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:29:30 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.91s: + episode_total: mean=31.70s, total=190.19s, count=6, min=207.9ms, max=155833.8ms + sensor_polling: mean=401.7ms, total=109.67s, count=273, min=307.3ms, max=659.0ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9179.3ms, max=9179.3ms + physics_step: mean=26.8ms, total=7.33s, count=273, min=14.6ms, max=78.3ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3698.8ms, max=3698.8ms + task_sampling_failed: mean=842.1ms, total=3.37s, count=4, min=207.9ms, max=2662.2ms + scene_load: mean=2.44s, total=2.44s, count=1, min=2435.9ms, max=2435.9ms + task_specific_sample: mean=304.3ms, total=1.83s, count=6, min=204.5ms, max=453.9ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1483.1ms, max=1483.1ms + task_sampling: mean=454.8ms, total=909.5ms, count=2, min=453.6ms, max=456.0ms + scene_compile: mean=812.3ms, total=812.3ms, count=1, min=812.3ms, max=812.3ms + compile_mujoco: mean=527.3ms, total=527.3ms, count=1, min=527.3ms, max=527.3ms + compile_xml_load: mean=214.9ms, total=214.9ms, count=1, min=214.9ms, max=214.9ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms + asset_install_grasps: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + scene_randomize: mean=1.1ms, total=6.3ms, count=6, min=0.9ms, max=1.4ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=383.6us, total=2.3ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:29:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:29:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188633m [env.py: 870] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195963m [env.py: 870] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44682741 -0.80655217 -0.18863325] yaw=-63.7deg [env.py: 1019] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=408.4ms, total=408.5ms [env.py: 1105] +05/12 08:29:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:29:32 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33154295 -0.82746515 -0.18863325] yaw=-54.1deg [env.py: 1019] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33181344 -0.9054262 -0.18863325] yaw=-59.4deg [env.py: 1019] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:29:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=580.8ms, total=580.9ms [env.py: 1075] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -0.807, -0.189) [env.py: 1079] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/12 08:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 08:29:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:29:32 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 08:29:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 08:29:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:29:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160413m [env.py: 870] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45982614 -1.04739814 -0.16041254] yaw=-52.7deg [env.py: 1019] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43290161 -1.0975449 -0.16041254] yaw=-46.0deg [env.py: 1019] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:29:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=195.3ms, total=195.3ms [env.py: 1075] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.047, -0.160) [env.py: 1079] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 08:29:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:29:34 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 08:29:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 08:29:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:29:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.842s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:29:34 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:29:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.405s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.663[m] 91.299[deg] [grasp_sample.py: 539] +05/12 08:29:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:29:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170904m [env.py: 870] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3043026 -1.19382738 -0.17090439] yaw=-46.9deg [env.py: 1019] +05/12 08:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62632743 -0.78895682 -0.17090439] yaw=-69.3deg [env.py: 1019] +05/12 08:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:29:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=237.4ms, total=237.5ms [env.py: 1075] +05/12 08:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.194, -0.171) [env.py: 1079] +05/12 08:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 08:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 08:29:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:29:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:29:36 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 08:29:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 08:29:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:29:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:29:37 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:29:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:29:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:29:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.649[m] 80.251[deg] [grasp_sample.py: 539] +05/12 08:29:39 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:29:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194519m [env.py: 870] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40010411 -1.07246619 -0.19451908] yaw=-41.8deg [env.py: 1019] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:29:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms [env.py: 1075] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.072, -0.195) [env.py: 1079] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/12 08:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:29:40 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 08:29:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:29:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:29:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.439s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:44 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.667[m] 90.019[deg] [grasp_sample.py: 539] +05/12 08:29:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:29:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:29:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:29:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:29:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.21s (batch: 3.22s, save: 9.99s) [pipeline.py: 300] +05/12 08:29:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=4.66s: + episode_total: mean=20.73s, total=207.26s, count=10, min=201.9ms, max=162321.8ms + sensor_polling: mean=360.0ms, total=108.00s, count=300, min=302.4ms, max=530.3ms + save_trajectories: mean=9.99s, total=9.99s, count=1, min=9985.8ms, max=9985.8ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=14.8ms, max=35.5ms + task_sampling: mean=1.17s, total=4.66s, count=4, min=350.2ms, max=3416.8ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3223.1ms, max=3223.1ms + scene_load: mean=3.01s, total=3.01s, count=1, min=3009.8ms, max=3009.8ms + task_specific_sample: mean=291.5ms, total=2.91s, count=10, min=198.7ms, max=485.6ms + scene_env_create: mean=1.68s, total=1.68s, count=1, min=1679.4ms, max=1679.4ms + task_sampling_failed: mean=214.8ms, total=1.29s, count=6, min=201.9ms, max=258.2ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.9ms, max=1152.9ms + compile_mujoco: mean=547.8ms, total=547.8ms, count=1, min=547.8ms, max=547.8ms + compile_xml_load: mean=526.6ms, total=526.6ms, count=1, min=526.6ms, max=526.6ms + scene_init: mean=132.3ms, total=132.3ms, count=1, min=132.3ms, max=132.3ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + scene_asset_install: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + asset_install_grasps: mean=30.5ms, total=30.5ms, count=1, min=30.5ms, max=30.5ms + compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + scene_randomize: mean=1.1ms, total=10.9ms, count=10, min=0.9ms, max=1.4ms + mj_forward_sync: mean=443.6us, total=4.4ms, count=10, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=22.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:29:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191849m [env.py: 870] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=251.4ms, total=251.4ms [env.py: 1105] +05/12 08:29:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:29:52 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:29:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:29:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:29:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:29:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:29:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:29:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182813m [env.py: 870] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:29:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54764571 -1.00304654 -0.18281275] yaw=-66.2deg [env.py: 1019] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29064202 -0.91078975 -0.18281275] yaw=-47.5deg [env.py: 1019] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:29:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=225.0ms, total=225.1ms [env.py: 1075] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -1.003, -0.183) [env.py: 1079] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 08:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:29:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:29:54 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 08:29:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 08:29:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:29:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:29:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:29:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:29:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.642[m] 79.239[deg] [grasp_sample.py: 539] +05/12 08:29:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:29:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:29:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:29:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:30:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:30:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:30:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:30:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:30:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:30:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:57 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:30:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:30:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:30:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 345 non-colliding grasps [grasp_sample.py: 465] +05/12 08:30:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:30:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.578s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:30:59 INFO: [Worker 0] Feasible grasp found 241 (originally 241): w/ 0.035[m] 4.600[deg] [grasp_sample.py: 539] +05/12 08:30:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:30:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:30:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:07 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:31:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:31:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:24 INFO: [Worker 0] Object is not in grasp! 0.00113 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:31:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:31:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:31:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:31:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 08:31:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.422s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:31:26 INFO: [Worker 0] Feasible grasp found 552 (originally 552): w/ 0.061[m] 0.237[deg] [grasp_sample.py: 539] +05/12 08:31:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:31:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:31:26 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 08:31:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:31:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:31:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:31:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:31:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:31:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.83s (batch: 2.95s, save: 8.88s) [pipeline.py: 300] +05/12 08:31:38 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.86s: + episode_total: mean=71.76s, total=143.51s, count=2, min=2100.3ms, max=141412.4ms + sensor_polling: mean=324.0ms, total=89.10s, count=275, min=295.1ms, max=512.4ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8883.6ms, max=8883.6ms + physics_step: mean=21.9ms, total=6.03s, count=275, min=14.7ms, max=39.3ms + save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2949.7ms, max=2949.7ms + task_sampling: mean=428.2ms, total=856.5ms, count=2, min=329.4ms, max=527.1ms + task_specific_sample: mean=424.7ms, total=849.4ms, count=2, min=327.0ms, max=522.3ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.0ms, max=3.2ms + mj_forward_sync: mean=469.7us, total=0.9ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:31:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:31:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:31:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:31:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:31:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:31:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:31:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101598m [env.py: 870] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:31:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45475054 -0.75358006 -0.10159768] yaw=-65.8deg [env.py: 1019] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:31:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.1ms [env.py: 1075] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.754, -0.102) [env.py: 1079] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/12 08:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:31:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:31:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:31:40 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 08:31:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 08:31:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:31:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:31:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:31:41 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:31:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.526s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:31:42 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:31:43 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:31:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:31:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:31:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:31:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:31:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:31:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:31:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:31:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:31:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118751m [env.py: 870] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:31:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54131958 -0.81323096 -0.11875109] yaw=-66.8deg [env.py: 1019] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:31:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:31:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1075] +05/12 08:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.813, -0.119) [env.py: 1079] +05/12 08:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.8 deg [env.py: 1082] +05/12 08:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 08:31:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:31:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:31:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:31:44 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 08:31:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:31:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:31:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:31:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:31:49 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:31:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:31:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:31:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:31:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 380 non-colliding grasps [grasp_sample.py: 465] +05/12 08:31:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.504s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:31:51 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.058[m] 0.360[deg] [grasp_sample.py: 539] +05/12 08:31:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:31:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:31:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:31:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:01 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:32:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:32:01 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 08:32:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.385s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:32:01 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.776[m] 92.042[deg] [grasp_sample.py: 539] +05/12 08:32:02 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:32:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:32:02 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 08:32:03 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:32:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:32:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187473m [env.py: 870] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34479465 -1.1740187 -0.1874734 ] yaw=-43.4deg [env.py: 1019] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.5ms, total=200.6ms [env.py: 1075] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.174, -0.187) [env.py: 1079] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/12 08:32:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:04 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:04 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:32:04 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.45s: + episode_total: mean=65.75s, total=131.49s, count=2, min=261.2ms, max=131231.1ms + sensor_polling: mean=370.2ms, total=111.06s, count=300, min=324.7ms, max=667.0ms + physics_step: mean=22.6ms, total=6.79s, count=300, min=15.7ms, max=48.2ms + task_specific_sample: mean=350.9ms, total=701.8ms, count=2, min=257.0ms, max=444.8ms + task_sampling: mean=448.5ms, total=448.5ms, count=1, min=448.5ms, max=448.5ms + task_sampling_failed: mean=261.2ms, total=261.2ms, count=1, min=261.2ms, max=261.2ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.6ms, max=2.1ms + mj_forward_sync: mean=695.6us, total=1.4ms, count=2, min=0.4ms, max=0.9ms + policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:32:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104793m [env.py: 870] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50077891 -0.77511319 -0.10479341] yaw=-57.4deg [env.py: 1019] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=444.6ms, total=444.6ms [env.py: 1075] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -0.775, -0.105) [env.py: 1079] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg [env.py: 1082] +05/12 08:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:06 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.673s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:32:07 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.615[m] 84.404[deg] [grasp_sample.py: 539] +05/12 08:32:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:32:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:32:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:32:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.680s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:32:08 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:32:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139263m [env.py: 870] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=359.8ms, total=359.8ms [env.py: 1105] +05/12 08:32:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:32:10 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:32:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100544m [env.py: 870] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27457873 -1.10552372 -0.10054362] yaw=-37.5deg [env.py: 1019] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=491.9ms, total=491.9ms [env.py: 1075] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.106, -0.101) [env.py: 1079] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 08:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:12 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:32:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:32:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.54s (batch: 3.47s, save: 9.07s) [pipeline.py: 300] +05/12 08:32:14 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.69s: + episode_total: mean=53.33s, total=159.99s, count=3, min=2839.7ms, max=153806.7ms + sensor_polling: mean=395.3ms, total=106.73s, count=270, min=301.9ms, max=805.6ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9072.7ms, max=9072.7ms + physics_step: mean=24.5ms, total=6.61s, count=270, min=14.9ms, max=37.1ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3469.4ms, max=3469.4ms + task_sampling: mean=563.8ms, total=1.69s, count=3, min=399.3ms, max=809.7ms + task_specific_sample: mean=560.9ms, total=1.68s, count=3, min=397.1ms, max=806.0ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=434.5us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:32:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.684s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:32:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.758[m] 80.989[deg] [grasp_sample.py: 539] +05/12 08:32:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:32:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:32:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:32:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.61s (batch: 3.23s, save: 9.39s) [pipeline.py: 300] +05/12 08:32:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:32:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151228m [env.py: 870] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:15 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s: + episode_total: mean=81.20s, total=162.41s, count=2, min=420.2ms, max=161987.9ms + sensor_polling: mean=396.7ms, total=106.72s, count=269, min=304.4ms, max=694.8ms + save_trajectories: mean=9.39s, total=9.39s, count=1, min=9388.6ms, max=9388.6ms + physics_step: mean=24.9ms, total=6.70s, count=269, min=19.7ms, max=63.6ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3226.1ms, max=3226.1ms + task_specific_sample: mean=449.0ms, total=897.9ms, count=2, min=414.5ms, max=483.4ms + task_sampling: mean=486.7ms, total=486.7ms, count=1, min=486.7ms, max=486.7ms + task_sampling_failed: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms + mj_forward_sync: mean=545.8us, total=1.1ms, count=2, min=0.4ms, max=0.7ms + policy_setup: mean=26.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.7ms, total=182.7ms [env.py: 1105] +05/12 08:32:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:32:15 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:32:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:32:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182259m [env.py: 870] +05/12 08:32:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136783m [env.py: 870] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34526975 -0.86362129 -0.13678328] yaw=-64.8deg [env.py: 1019] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18156406 -1.14184286 -0.18225876] yaw=-48.9deg [env.py: 1019] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.2ms, total=227.2ms [env.py: 1075] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -1.142, -0.182) [env.py: 1079] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=386.9ms, total=386.9ms [env.py: 1075] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -0.864, -0.137) [env.py: 1079] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 08:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:17 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:17 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.417s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:32:19 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:32:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144120m [env.py: 870] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30238862 -1.12585024 -0.14412001] yaw=-45.2deg [env.py: 1019] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=345.2ms, total=345.3ms [env.py: 1075] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.126, -0.144) [env.py: 1079] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg [env.py: 1082] +05/12 08:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:21 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.184s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:32:23 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.723[m] 84.014[deg] [grasp_sample.py: 539] +05/12 08:32:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.608s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:32:24 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.712[m] 76.857[deg] [grasp_sample.py: 539] +05/12 08:32:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:32:24 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:32:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:32:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195396m [env.py: 870] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40434431 -0.79645382 -0.19539567] yaw=-65.4deg [env.py: 1019] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=253.3ms, total=253.4ms [env.py: 1075] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.796, -0.195) [env.py: 1079] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 08:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:26 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.406s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:32:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119777m [env.py: 870] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=550.7ms, total=550.7ms [env.py: 1105] +05/12 08:32:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:32:30 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:32:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:32:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:32:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:32:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:32:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:32:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145786m [env.py: 870] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:32:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57763921 -0.94403707 -0.14578558] yaw=-58.0deg [env.py: 1019] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57344213 -0.80947284 -0.14578558] yaw=-57.2deg [env.py: 1019] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53161403 -0.96239154 -0.14578558] yaw=-56.0deg [env.py: 1019] +05/12 08:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:32:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=426.9ms, total=427.0ms [env.py: 1075] +05/12 08:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.944, -0.146) [env.py: 1079] +05/12 08:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 08:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:32:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:32:32 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 08:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:32:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:32:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:32:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:32:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:32:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.677[m] 86.458[deg] [grasp_sample.py: 539] +05/12 08:32:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:32:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:32:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:32:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:33:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:33:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:33:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:33:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:33:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:33:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:33:43 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:34:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:34:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:34:03 INFO: [Worker 0] Preparing episode data: 261 timesteps [save_utils.py: 278] +05/12 08:34:07 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:34:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:34:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:34:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.18s (batch: 3.95s, save: 10.23s) [pipeline.py: 300] +05/12 08:34:18 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.35s: + episode_total: mean=51.73s, total=155.18s, count=3, min=2220.1ms, max=133780.9ms + sensor_polling: mean=333.5ms, total=86.71s, count=260, min=306.2ms, max=516.3ms + save_trajectories: mean=10.23s, total=10.23s, count=1, min=10229.3ms, max=10229.3ms + physics_step: mean=22.3ms, total=5.81s, count=260, min=15.4ms, max=58.7ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.5ms, max=3950.5ms + task_sampling: mean=449.5ms, total=1.35s, count=3, min=415.5ms, max=478.7ms + task_specific_sample: mean=446.7ms, total=1.34s, count=3, min=413.3ms, max=475.2ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=400.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=19.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:34:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175638m [env.py: 870] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45296874 -0.95231 -0.17563792] yaw=-54.1deg [env.py: 1019] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=212.7ms, total=212.8ms [env.py: 1075] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.952, -0.176) [env.py: 1079] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 08:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:34:20 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 08:34:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:34:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:34:22 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:34:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:34:22 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.740[m] 86.604[deg] [grasp_sample.py: 539] +05/12 08:34:23 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:34:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104598m [env.py: 870] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40911826 -0.90894042 -0.10459762] yaw=-55.4deg [env.py: 1019] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1075] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.909, -0.105) [env.py: 1079] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 08:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:34:25 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 08:34:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:34:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:34:28 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:34:28 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:34:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:34:28 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 08:34:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.883s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:34:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.765[m] 84.713[deg] [grasp_sample.py: 539] +05/12 08:34:31 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189961m [env.py: 870] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.8ms, total=189.9ms [env.py: 1105] +05/12 08:34:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:34:32 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:34:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109329m [env.py: 870] +05/12 08:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55651479 -0.78092317 -0.10932873] yaw=-76.2deg [env.py: 1019] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=265.8ms, total=265.8ms [env.py: 1075] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.781, -0.109) [env.py: 1079] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.2 deg [env.py: 1082] +05/12 08:34:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 08:34:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:34:34 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 08:34:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:34:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:34:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.352s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:34:35 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:34:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145343m [env.py: 870] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30231115 -1.21775456 -0.14534256] yaw=-32.4deg [env.py: 1019] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36452443 -1.18228291 -0.14534256] yaw=-53.6deg [env.py: 1019] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.5ms [env.py: 1075] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.218, -0.145) [env.py: 1079] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.4 deg [env.py: 1082] +05/12 08:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:34:37 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 08:34:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:34:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:34:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.083s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:34:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.659[m] 86.628[deg] [grasp_sample.py: 539] +05/12 08:34:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:34:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:34:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:34:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:34:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.68s (batch: 3.72s, save: 9.96s) [pipeline.py: 300] +05/12 08:34:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:34:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:34:42 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 08:34:42 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.41s: + episode_total: mean=51.19s, total=153.57s, count=3, min=372.0ms, max=150691.2ms + sensor_polling: mean=364.9ms, total=104.35s, count=286, min=320.3ms, max=581.0ms + save_trajectories: mean=9.96s, total=9.96s, count=1, min=9958.4ms, max=9958.4ms + physics_step: mean=21.8ms, total=6.24s, count=286, min=19.5ms, max=30.8ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3723.9ms, max=3723.9ms + task_specific_sample: mean=589.0ms, total=1.77s, count=3, min=366.6ms, max=724.5ms + task_sampling: mean=702.5ms, total=1.40s, count=2, min=678.3ms, max=726.6ms + task_sampling_failed: mean=372.0ms, total=372.0ms, count=1, min=372.0ms, max=372.0ms + scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=1.1ms, max=1.6ms + mj_forward_sync: mean=538.1us, total=1.6ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138374m [env.py: 870] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57222123 -0.86193469 -0.13837364] yaw=-69.7deg [env.py: 1019] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.4ms, total=191.5ms [env.py: 1075] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.862, -0.138) [env.py: 1079] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg [env.py: 1082] +05/12 08:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:34:44 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 08:34:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:34:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:34:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:34:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.737[m] 90.505[deg] [grasp_sample.py: 539] +05/12 08:34:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:34:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:34:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:34:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:34:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:34:47 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 08:34:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:34:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:34:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.77s (batch: 3.60s, save: 9.16s) [pipeline.py: 300] +05/12 08:34:55 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.22s: + episode_total: mean=52.51s, total=157.54s, count=3, min=193.2ms, max=155057.5ms + sensor_polling: mean=391.2ms, total=107.97s, count=276, min=303.0ms, max=758.4ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9163.3ms, max=9163.3ms + physics_step: mean=25.4ms, total=7.00s, count=276, min=19.5ms, max=51.4ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3603.4ms, max=3603.4ms + task_specific_sample: mean=467.1ms, total=1.40s, count=3, min=188.6ms, max=643.4ms + task_sampling: mean=609.0ms, total=1.22s, count=2, min=571.5ms, max=646.4ms + task_sampling_failed: mean=193.2ms, total=193.2ms, count=1, min=193.2ms, max=193.2ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=464.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:34:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148330m [env.py: 870] +05/12 08:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=499.2ms, total=499.2ms [env.py: 1105] +05/12 08:34:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:34:57 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:34:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:34:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:34:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:34:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:34:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:34:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135552m [env.py: 870] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:34:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37078051 -1.01887526 -0.13555227] yaw=-55.7deg [env.py: 1019] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:34:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.2ms [env.py: 1075] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -1.019, -0.136) [env.py: 1079] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/12 08:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:34:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:34:59 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 08:34:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 08:34:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:34:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:34:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:35:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:35:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:35:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.22s (batch: 3.20s, save: 9.03s) [pipeline.py: 300] +05/12 08:35:00 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.63s: + episode_total: mean=39.98s, total=159.90s, count=4, min=569.9ms, max=149321.8ms + sensor_polling: mean=346.7ms, total=94.29s, count=272, min=303.2ms, max=568.9ms + save_trajectories: mean=9.03s, total=9.03s, count=1, min=9025.9ms, max=9025.9ms + physics_step: mean=22.8ms, total=6.19s, count=272, min=19.8ms, max=47.7ms + save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3198.4ms, max=3198.4ms + task_specific_sample: mean=547.6ms, total=2.19s, count=4, min=456.5ms, max=634.0ms + task_sampling: mean=544.4ms, total=1.63s, count=3, min=459.1ms, max=637.2ms + task_sampling_failed: mean=569.8ms, total=569.8ms, count=1, min=569.8ms, max=569.8ms + scene_randomize: mean=1.6ms, total=6.2ms, count=4, min=1.0ms, max=2.1ms + mj_forward_sync: mean=443.9us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=25.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:35:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:35:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:35:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:35:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:35:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:35:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:35:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162958m [env.py: 870] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:35:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47703167 -0.75957073 -0.162958 ] yaw=-62.0deg [env.py: 1019] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:35:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.9ms, total=181.0ms [env.py: 1075] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -0.760, -0.163) [env.py: 1079] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 08:35:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:35:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:35:02 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 08:35:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.185s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:35:02 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.742[m] 86.793[deg] [grasp_sample.py: 539] +05/12 08:35:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 08:35:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:35:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:35:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:35:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:35:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:35:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.351s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:35:04 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:35:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:35:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:35:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:35:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:35:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:35:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139005m [env.py: 870] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:35:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27320876 -1.01933383 -0.1390047 ] yaw=-36.1deg [env.py: 1019] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:35:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=156.3ms, total=156.3ms [env.py: 1075] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -1.019, -0.139) [env.py: 1079] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg [env.py: 1082] +05/12 08:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 08:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:35:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:35:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:35:05 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 08:35:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:35:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:35:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:35:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:35:07 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.776[m] 78.267[deg] [grasp_sample.py: 539] +05/12 08:35:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:35:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:35:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:35:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:35:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:35:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:35:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:35:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:35:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.716s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:35:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.567[m] 64.892[deg] [grasp_sample.py: 539] +05/12 08:35:17 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:35:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:35:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:35:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:35:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:35:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:35:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:35:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112722m [env.py: 870] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:35:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51840388 -0.95371313 -0.11272159] yaw=-53.2deg [env.py: 1019] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=215.0ms [env.py: 1075] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.954, -0.113) [env.py: 1079] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 08:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:35:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:35:18 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 08:35:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:35:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:35:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:35:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:35:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.627s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:35:20 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.721[m] 95.932[deg] [grasp_sample.py: 539] +05/12 08:35:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:35:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:35:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:35:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:35:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:35:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:36:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:36:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:36:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:36:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:36:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 317 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.339s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:23 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.043[m] 2.117[deg] [grasp_sample.py: 539] +05/12 08:36:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:36:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:36:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:36:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:36:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.543s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:31 INFO: [Worker 0] Feasible grasp found 377 (originally 377): w/ 0.108[m] 12.524[deg] [grasp_sample.py: 539] +05/12 08:36:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:36:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:36:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:36:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:36:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:36:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:36:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:36:41 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.173[m] 19.911[deg] [grasp_sample.py: 539] +05/12 08:36:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:36:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:36:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:36:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:36:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:36:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:36:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:36:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:36:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.537s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:00 INFO: [Worker 0] Feasible grasp found 386 (originally 386): w/ 0.209[m] 21.505[deg] [grasp_sample.py: 539] +05/12 08:37:01 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:37:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175044m [env.py: 870] +05/12 08:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=274.0ms, total=274.0ms [env.py: 1105] +05/12 08:37:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:03 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:37:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:37:04 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 08:37:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139454m [env.py: 870] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=253.1ms, total=253.1ms [env.py: 1105] +05/12 08:37:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:04 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:06 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:37:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166629m [env.py: 870] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=359.0ms, total=359.0ms [env.py: 1105] +05/12 08:37:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:06 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:07 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:37:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:37:07 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 08:37:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137612m [env.py: 870] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=223.1ms, total=223.2ms [env.py: 1105] +05/12 08:37:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:08 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194727m [env.py: 870] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1105] +05/12 08:37:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:09 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155074m [env.py: 870] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1105] +05/12 08:37:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:11 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192428m [env.py: 870] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5271305 -0.95655198 -0.19242769] yaw=-71.5deg [env.py: 1019] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms [env.py: 1075] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.957, -0.192) [env.py: 1079] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.5 deg [env.py: 1082] +05/12 08:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:37:12 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 08:37:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:37:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:37:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.61s (batch: 3.73s, save: 8.88s) [pipeline.py: 300] +05/12 08:37:17 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.87s: + episode_total: mean=34.56s, total=172.80s, count=5, min=198.8ms, max=160511.8ms + sensor_polling: mean=425.4ms, total=114.44s, count=269, min=298.1ms, max=649.2ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8883.1ms, max=8883.1ms + physics_step: mean=26.1ms, total=7.03s, count=269, min=14.7ms, max=33.5ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3728.7ms, max=3728.7ms + task_specific_sample: mean=411.4ms, total=2.06s, count=5, min=194.9ms, max=504.6ms + task_sampling: mean=468.6ms, total=1.87s, count=4, min=436.7ms, max=509.1ms + task_sampling_failed: mean=198.8ms, total=198.8ms, count=1, min=198.8ms, max=198.8ms + scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=0.9ms, max=3.1ms + mj_forward_sync: mean=476.4us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=20.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:37:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.123s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.659[m] 85.454[deg] [grasp_sample.py: 539] +05/12 08:37:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:37:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:37:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131612m [env.py: 870] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46867478 -0.96345277 -0.1316124 ] yaw=-66.1deg [env.py: 1019] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.1ms, total=214.2ms [env.py: 1075] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.963, -0.132) [env.py: 1079] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/12 08:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:37:19 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 08:37:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:37:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:37:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.28s (batch: 3.59s, save: 9.69s) [pipeline.py: 300] +05/12 08:37:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.48s: + episode_total: mean=71.56s, total=143.12s, count=2, min=509.6ms, max=142609.0ms + sensor_polling: mean=329.6ms, total=93.28s, count=283, min=299.9ms, max=581.3ms + save_trajectories: mean=9.69s, total=9.69s, count=1, min=9691.6ms, max=9691.6ms + physics_step: mean=21.3ms, total=6.03s, count=283, min=18.9ms, max=35.9ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3588.5ms, max=3588.5ms + task_specific_sample: mean=494.0ms, total=988.1ms, count=2, min=482.6ms, max=505.5ms + task_sampling_failed: mean=509.6ms, total=509.6ms, count=1, min=509.6ms, max=509.6ms + task_sampling: mean=484.9ms, total=484.9ms, count=1, min=484.9ms, max=484.9ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=0.9ms, max=2.5ms + mj_forward_sync: mean=384.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:37:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190221m [env.py: 870] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35702422 -1.0696931 -0.19022129] yaw=-56.7deg [env.py: 1019] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44710319 -0.88287449 -0.19022129] yaw=-56.2deg [env.py: 1019] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.64547509 -0.8863206 -0.19022129] yaw=-75.1deg [env.py: 1019] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.5ms, total=91.5ms [env.py: 1075] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.070, -0.190) [env.py: 1079] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 08:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:37:22 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 08:37:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.977s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.690[m] 84.870[deg] [grasp_sample.py: 539] +05/12 08:37:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:25 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.682[m] 88.270[deg] [grasp_sample.py: 539] +05/12 08:37:26 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:37:26 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:37:27 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:37:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:37:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105116m [env.py: 870] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116933m [env.py: 870] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=367.4ms, total=367.5ms [env.py: 1105] +05/12 08:37:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:28 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=637.0ms, total=637.1ms [env.py: 1105] +05/12 08:37:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:28 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112336m [env.py: 870] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2506258 -1.13836877 -0.1123364 ] yaw=-31.6deg [env.py: 1019] +05/12 08:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms [env.py: 1075] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.138, -0.112) [env.py: 1079] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.6 deg [env.py: 1082] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139844m [env.py: 870] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.0ms, total=231.1ms [env.py: 1105] +05/12 08:37:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:37:30 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:37:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:37:30 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 08:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.791s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.766[m] 86.903[deg] [grasp_sample.py: 539] +05/12 08:37:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132726m [env.py: 870] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61861922 -0.98820121 -0.1327258 ] yaw=-74.0deg [env.py: 1019] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.8ms, total=208.8ms [env.py: 1075] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.988, -0.133) [env.py: 1079] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg [env.py: 1082] +05/12 08:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:37:32 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 08:37:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:32 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:37:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.302s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.606[m] 96.457[deg] [grasp_sample.py: 539] +05/12 08:37:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:37:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:37:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178094m [env.py: 870] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54533126 -0.90960356 -0.17809402] yaw=-69.1deg [env.py: 1019] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38294004 -0.99798118 -0.17809402] yaw=-41.3deg [env.py: 1019] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51100136 -0.8740253 -0.17809402] yaw=-63.0deg [env.py: 1019] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.6ms, total=142.7ms [env.py: 1075] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.545, -0.910, -0.178) [env.py: 1079] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 08:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:37:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:37:34 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 08:37:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.756s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.696[m] 98.319[deg] [grasp_sample.py: 539] +05/12 08:37:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:37:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:37:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:37:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:37:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:37:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.20s (batch: 3.99s, save: 10.21s) [pipeline.py: 300] +05/12 08:37:42 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.73s: + episode_total: mean=79.34s, total=158.68s, count=2, min=1942.8ms, max=156732.3ms + sensor_polling: mean=325.6ms, total=97.68s, count=300, min=297.5ms, max=510.6ms + save_trajectories: mean=10.21s, total=10.21s, count=1, min=10208.2ms, max=10208.2ms + physics_step: mean=21.3ms, total=6.39s, count=300, min=15.2ms, max=33.3ms + save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3989.4ms, max=3989.4ms + task_sampling: mean=365.3ms, total=730.7ms, count=2, min=326.3ms, max=404.4ms + task_specific_sample: mean=362.4ms, total=724.9ms, count=2, min=323.7ms, max=401.2ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.0ms, max=2.1ms + mj_forward_sync: mean=384.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:37:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:37:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:37:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:37:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:37:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:37:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153727m [env.py: 870] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:37:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63325768 -0.89056171 -0.15372686] yaw=-68.3deg [env.py: 1019] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:37:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=437.0ms, total=437.1ms [env.py: 1075] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.891, -0.154) [env.py: 1079] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 08:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:37:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:37:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:37:44 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 08:37:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 08:37:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.134s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.681[m] 95.184[deg] [grasp_sample.py: 539] +05/12 08:37:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:37:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:37:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:37:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:37:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:37:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:37:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:37:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.498[m] 73.583[deg] [grasp_sample.py: 539] +05/12 08:37:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:37:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:37:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:38:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:38:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.010s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:38:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.539[m] 70.132[deg] [grasp_sample.py: 539] +05/12 08:38:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:38:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:38:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.744s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:38:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.499[m] 73.663[deg] [grasp_sample.py: 539] +05/12 08:38:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:38:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.822s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:38:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.539[m] 70.133[deg] [grasp_sample.py: 539] +05/12 08:38:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:38:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:38:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:38:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:38:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.499[m] 73.663[deg] [grasp_sample.py: 539] +05/12 08:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:38:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:38:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:38:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.842s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:38:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.539[m] 70.133[deg] [grasp_sample.py: 539] +05/12 08:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:38:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:38:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:38:40 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:38:40 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.75s: + episode_total: mean=18.41s, total=73.66s, count=4, min=240.6ms, max=68451.0ms + sensor_polling: mean=350.1ms, total=22.76s, count=65, min=307.2ms, max=655.7ms + task_specific_sample: mean=405.4ms, total=1.62s, count=4, min=237.3ms, max=643.2ms + physics_step: mean=18.0ms, total=1.17s, count=65, min=13.1ms, max=27.1ms + task_sampling_failed: mean=443.7ms, total=887.3ms, count=2, min=240.6ms, max=646.7ms + task_sampling: mean=373.5ms, total=747.0ms, count=2, min=326.2ms, max=420.8ms + scene_randomize: mean=1.4ms, total=5.8ms, count=4, min=1.0ms, max=2.5ms + mj_forward_sync: mean=475.2us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136370m [env.py: 870] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32067268 -1.07727595 -0.13636961] yaw=-53.1deg [env.py: 1019] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:38:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=270.8ms, total=270.8ms [env.py: 1075] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -1.077, -0.136) [env.py: 1079] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 08:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:38:41 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 08:38:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 08:38:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:38:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.709[m] 83.543[deg] [grasp_sample.py: 539] +05/12 08:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:44 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177452m [env.py: 870] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.8ms, total=220.9ms [env.py: 1105] +05/12 08:38:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:46 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178856m [env.py: 870] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.7ms, total=217.7ms [env.py: 1105] +05/12 08:38:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:47 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152578m [env.py: 870] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.0ms, total=200.0ms [env.py: 1105] +05/12 08:38:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:48 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101740m [env.py: 870] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.5ms, total=209.5ms [env.py: 1105] +05/12 08:38:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:50 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:38:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:38:51 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:38:51 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.71s: + episode_total: mean=67.67s, total=67.67s, count=1, min=67674.4ms, max=67674.4ms + sensor_polling: mean=318.3ms, total=22.92s, count=72, min=300.3ms, max=409.4ms + physics_step: mean=18.3ms, total=1.32s, count=72, min=13.1ms, max=23.5ms + task_sampling: mean=705.7ms, total=705.7ms, count=1, min=705.7ms, max=705.7ms + task_specific_sample: mean=702.1ms, total=702.1ms, count=1, min=702.1ms, max=702.1ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=405.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154123m [env.py: 870] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55595017 -0.90431969 -0.154123 ] yaw=-65.7deg [env.py: 1019] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.10812032 -1.05856392 -0.154123 ] yaw=-45.4deg [env.py: 1019] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:38:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms [env.py: 1075] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.904, -0.154) [env.py: 1079] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/12 08:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:38:52 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 08:38:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:38:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:38:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126217m [env.py: 870] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.1ms, total=199.1ms [env.py: 1105] +05/12 08:38:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:52 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191376m [env.py: 870] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.6ms, total=201.6ms [env.py: 1105] +05/12 08:38:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:54 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183445m [env.py: 870] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.7ms, total=197.7ms [env.py: 1105] +05/12 08:38:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:55 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112327m [env.py: 870] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.256s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:38:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.711[m] 93.192[deg] [grasp_sample.py: 539] +05/12 08:38:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=557.4ms, total=557.4ms [env.py: 1105] +05/12 08:38:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:38:57 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:38:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:38:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:38:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:38:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:38:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:38:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:38:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:38:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:38:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:38:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142007m [env.py: 870] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:38:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39523417 -0.97632462 -0.1420073 ] yaw=-56.4deg [env.py: 1019] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:38:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=521.7ms, total=521.8ms [env.py: 1075] +05/12 08:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -0.976, -0.142) [env.py: 1079] +05/12 08:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 08:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 08:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:38:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:38:59 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 08:38:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:38:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:38:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:38:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.649s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:39:02 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.742[m] 82.359[deg] [grasp_sample.py: 539] +05/12 08:39:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:39:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:39:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:39:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 503 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:39:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:39:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:39:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:39:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.871s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:39:05 INFO: [Worker 0] Feasible grasp found 194 (originally 194): w/ 0.099[m] 5.299[deg] [grasp_sample.py: 539] +05/12 08:39:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:39:05 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:39:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:39:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:39:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:39:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:39:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.601s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:39:17 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.250[m] 17.981[deg] [grasp_sample.py: 539] +05/12 08:39:18 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:39:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:39:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:39:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:39:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:39:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:39:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165499m [env.py: 870] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:39:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=204.9ms, total=205.0ms [env.py: 1105] +05/12 08:39:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:39:20 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:39:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:39:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:39:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186353m [env.py: 870] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22556863 -1.02255467 -0.18635275] yaw=-37.2deg [env.py: 1019] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms [env.py: 1075] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.023, -0.186) [env.py: 1079] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg [env.py: 1082] +05/12 08:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:39:22 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 08:39:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 08:39:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:39:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:39:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:39:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:39:25 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 08:39:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:39:26 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.747[m] 85.460[deg] [grasp_sample.py: 539] +05/12 08:39:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:39:27 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 08:39:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:39:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:39:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:39:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:39:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:39:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181959m [env.py: 870] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:39:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.377208 -0.82826465 -0.18195864] yaw=-53.8deg [env.py: 1019] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:39:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.5ms [env.py: 1075] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -0.828, -0.182) [env.py: 1079] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 08:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:39:28 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 08:39:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:39:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:39:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:39:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.997s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:39:31 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:39:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:39:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:39:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:39:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:39:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:39:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:39:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191991m [env.py: 870] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:39:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=291.6ms, total=291.6ms [env.py: 1105] +05/12 08:39:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:39:32 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:39:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:39:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:39:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:39:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:39:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:39:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111799m [env.py: 870] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:39:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30951894 -1.19204631 -0.1117985 ] yaw=-39.7deg [env.py: 1019] +05/12 08:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:39:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=221.7ms, total=221.7ms [env.py: 1075] +05/12 08:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.192, -0.112) [env.py: 1079] +05/12 08:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg [env.py: 1082] +05/12 08:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 08:39:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:39:34 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 08:39:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:39:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:39:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:39:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.188s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:39:37 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.694[m] 77.574[deg] [grasp_sample.py: 539] +05/12 08:39:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:39:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:39:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:39:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:39:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:39:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.86s (batch: 3.25s, save: 9.61s) [pipeline.py: 300] +05/12 08:39:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:39:39 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=1.31s: + episode_total: mean=31.60s, total=284.43s, count=9, min=210.0ms, max=146530.9ms + sensor_polling: mean=359.7ms, total=178.40s, count=496, min=308.7ms, max=711.6ms + physics_step: mean=21.1ms, total=10.48s, count=496, min=15.9ms, max=44.2ms + save_trajectories: mean=9.61s, total=9.61s, count=1, min=9608.1ms, max=9608.1ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3248.7ms, max=3248.7ms + task_specific_sample: mean=317.0ms, total=2.85s, count=9, min=207.2ms, max=439.1ms + task_sampling_failed: mean=262.6ms, total=1.58s, count=6, min=210.0ms, max=369.4ms + task_sampling: mean=436.0ms, total=1.31s, count=3, min=427.7ms, max=442.5ms + scene_randomize: mean=1.3ms, total=11.4ms, count=9, min=0.9ms, max=2.3ms + mj_forward_sync: mean=462.9us, total=4.2ms, count=9, min=0.4ms, max=0.7ms + policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:39:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:39:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:39:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:39:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:39:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:39:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131471m [env.py: 870] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:39:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.67391641 -0.93413574 -0.1314706 ] yaw=-77.6deg [env.py: 1019] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:39:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=484.2ms, total=484.3ms [env.py: 1075] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.674, -0.934, -0.131) [env.py: 1079] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.6 deg [env.py: 1082] +05/12 08:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:39:41 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 08:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 08:39:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:39:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:39:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.514s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:39:42 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.675[m] 101.885[deg] [grasp_sample.py: 539] +05/12 08:39:43 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:39:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:39:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:39:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:39:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:39:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:39:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188186m [env.py: 870] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:39:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62518198 -0.96971549 -0.18818556] yaw=-63.0deg [env.py: 1019] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:39:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=390.7ms, total=390.7ms [env.py: 1075] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.970, -0.188) [env.py: 1079] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/12 08:39:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:39:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:39:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:39:45 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 08:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:39:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:39:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:39:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.572s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:39:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.624[m] 87.655[deg] [grasp_sample.py: 539] +05/12 08:39:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:39:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:39:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:39:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:39:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:40:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:40:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:40:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:40:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 505 non-colliding grasps [grasp_sample.py: 465] +05/12 08:40:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:40:01 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.112[m] 12.766[deg] [grasp_sample.py: 539] +05/12 08:40:03 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:40:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:40:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:40:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:40:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105936m [env.py: 870] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:40:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1105] +05/12 08:40:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:40:04 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:40:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:40:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:40:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157722m [env.py: 870] +05/12 08:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1105] +05/12 08:40:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:40:06 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:40:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:40:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:40:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:40:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130261m [env.py: 870] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:40:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.9ms, total=198.9ms [env.py: 1105] +05/12 08:40:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:40:07 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:40:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:40:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:40:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:40:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169928m [env.py: 870] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37865733 -0.9951782 -0.16992793] yaw=-44.2deg [env.py: 1019] +05/12 08:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:40:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.8ms, total=234.8ms [env.py: 1075] +05/12 08:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -0.995, -0.170) [env.py: 1079] +05/12 08:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/12 08:40:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 08:40:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:40:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:40:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:40:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:40:09 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 08:40:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 08:40:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:40:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:40:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:40:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:40:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.712[m] 85.621[deg] [grasp_sample.py: 539] +05/12 08:40:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:40:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:40:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:40:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:40:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:40:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:40:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:40:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:41:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:41:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:41:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:41:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/12 08:41:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.365s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:41:06 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.051[m] 0.534[deg] [grasp_sample.py: 539] +05/12 08:41:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:41:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:41:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:41:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:07 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:41:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:17 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:41:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:41:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:41:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:41:29 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 08:41:37 INFO: [Worker 0] Object is not in grasp! 0.00124 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:41:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:41:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:41:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:41:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 385 non-colliding grasps [grasp_sample.py: 465] +05/12 08:41:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:41:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:41:37 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 08:41:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.353s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:41:37 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.493[deg] [grasp_sample.py: 539] +05/12 08:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:41:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:41:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:41:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:41:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.52s (batch: 3.43s, save: 9.08s) [pipeline.py: 300] +05/12 08:41:43 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.75s: + episode_total: mean=33.07s, total=165.35s, count=5, min=205.5ms, max=164158.8ms + sensor_polling: mean=391.4ms, total=111.17s, count=284, min=294.7ms, max=828.4ms + save_trajectories: mean=9.08s, total=9.08s, count=1, min=9081.8ms, max=9081.8ms + physics_step: mean=25.2ms, total=7.15s, count=284, min=14.7ms, max=37.5ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.3ms, max=3434.3ms + task_specific_sample: mean=385.5ms, total=1.93s, count=5, min=202.4ms, max=750.7ms + task_sampling_failed: mean=297.6ms, total=1.19s, count=4, min=205.5ms, max=565.4ms + task_sampling: mean=753.5ms, total=753.5ms, count=1, min=753.5ms, max=753.5ms + scene_randomize: mean=1.0ms, total=5.2ms, count=5, min=1.0ms, max=1.3ms + mj_forward_sync: mean=449.2us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=9.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:41:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:41:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:41:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:41:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:41:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:41:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:41:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104933m [env.py: 870] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:41:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=360.4ms, total=360.5ms [env.py: 1105] +05/12 08:41:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:41:44 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:41:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:41:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:41:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:41:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:41:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:41:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:41:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139796m [env.py: 870] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:41:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.65006536 -0.95488165 -0.13979615] yaw=-58.2deg [env.py: 1019] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:41:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=425.4ms, total=425.5ms [env.py: 1075] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.955, -0.140) [env.py: 1079] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 08:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:41:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:41:46 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 08:41:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 08:41:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:41:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:41:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:41:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:41:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.989s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:41:49 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.677[m] 73.158[deg] [grasp_sample.py: 539] +05/12 08:41:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:41:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:41:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:41:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:41:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.01s (batch: 3.46s, save: 9.55s) [pipeline.py: 300] +05/12 08:41:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:41:50 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:41:51 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=2.70s: + episode_total: mean=29.10s, total=261.88s, count=9, min=213.9ms, max=137462.8ms + sensor_polling: mean=354.8ms, total=158.95s, count=448, min=295.1ms, max=715.6ms + physics_step: mean=22.9ms, total=10.25s, count=448, min=14.9ms, max=84.4ms + save_trajectories: mean=9.55s, total=9.55s, count=1, min=9551.0ms, max=9551.0ms + task_specific_sample: mean=395.8ms, total=3.56s, count=9, min=210.1ms, max=551.0ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3459.9ms, max=3459.9ms + task_sampling: mean=450.2ms, total=2.70s, count=6, min=347.0ms, max=556.2ms + task_sampling_failed: mean=296.7ms, total=890.0ms, count=3, min=213.8ms, max=375.9ms + scene_randomize: mean=1.3ms, total=11.6ms, count=9, min=0.9ms, max=1.7ms + mj_forward_sync: mean=409.7us, total=3.7ms, count=9, min=0.4ms, max=0.5ms + policy_setup: mean=12.8us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:41:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:41:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:41:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:41:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:41:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:41:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:41:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:41:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:41:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:41:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:41:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188130m [env.py: 870] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:41:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46462009 -0.89133835 -0.18812967] yaw=-55.9deg [env.py: 1019] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40610179 -0.84235817 -0.18812967] yaw=-50.8deg [env.py: 1019] +05/12 08:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:41:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=269.0ms, total=269.1ms [env.py: 1075] +05/12 08:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.891, -0.188) [env.py: 1079] +05/12 08:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/12 08:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 08:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:41:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:41:53 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 08:41:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 08:41:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:41:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:41:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:41:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.439s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:41:55 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.721[m] 77.453[deg] [grasp_sample.py: 539] +05/12 08:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:41:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:41:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:02 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:42:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:42:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:42:11 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 08:42:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:42:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:42:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.70s (batch: 3.60s, save: 9.10s) [pipeline.py: 300] +05/12 08:42:25 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=1.40s: + episode_total: mean=21.25s, total=212.47s, count=10, min=207.4ms, max=136258.5ms + sensor_polling: mean=330.6ms, total=140.17s, count=424, min=298.6ms, max=577.9ms + save_trajectories: mean=9.10s, total=9.10s, count=1, min=9099.5ms, max=9099.5ms + physics_step: mean=21.4ms, total=9.06s, count=424, min=15.4ms, max=33.5ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3596.8ms, max=3596.8ms + task_specific_sample: mean=287.8ms, total=2.88s, count=10, min=203.9ms, max=507.4ms + task_sampling_failed: mean=216.2ms, total=1.51s, count=7, min=207.4ms, max=230.3ms + task_sampling: mean=465.3ms, total=1.40s, count=3, min=421.4ms, max=509.7ms + scene_randomize: mean=1.2ms, total=12.4ms, count=10, min=0.9ms, max=1.8ms + mj_forward_sync: mean=420.3us, total=4.2ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=12.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:42:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:42:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:42:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103534m [env.py: 870] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26557439 -0.98047206 -0.10353449] yaw=-54.3deg [env.py: 1019] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28957207 -1.22325558 -0.10353449] yaw=-40.1deg [env.py: 1019] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.7ms, total=195.7ms [env.py: 1075] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -0.980, -0.104) [env.py: 1079] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 08:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:42:26 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 08:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.329s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:42:28 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:42:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133689m [env.py: 870] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39023135 -0.84292425 -0.13368875] yaw=-66.6deg [env.py: 1019] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=206.2ms, total=206.3ms [env.py: 1075] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -0.843, -0.134) [env.py: 1079] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/12 08:42:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:42:30 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 08:42:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.890s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:42:32 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:42:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180860m [env.py: 870] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=369.4ms, total=369.5ms [env.py: 1105] +05/12 08:42:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:42:33 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:42:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151423m [env.py: 870] +05/12 08:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38330006 -0.85253448 -0.15142336] yaw=-62.7deg [env.py: 1019] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=269.0ms, total=269.1ms [env.py: 1075] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.853, -0.151) [env.py: 1079] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/12 08:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 08:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:42:35 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 08:42:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.172s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:42:37 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:42:37 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 08:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147424m [env.py: 870] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27395398 -1.10795002 -0.1474235 ] yaw=-54.1deg [env.py: 1019] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35439636 -1.03977306 -0.1474235 ] yaw=-42.3deg [env.py: 1019] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=267.2ms, total=267.2ms [env.py: 1075] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.108, -0.147) [env.py: 1079] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 08:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:42:39 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 08:42:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:42:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:42:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.43s (batch: 3.97s, save: 11.46s) [pipeline.py: 300] +05/12 08:42:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.034s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:42:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.682[m] 85.172[deg] [grasp_sample.py: 539] +05/12 08:42:42 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=1.35s: + episode_total: mean=90.43s, total=180.87s, count=2, min=3506.6ms, max=177360.8ms + sensor_polling: mean=410.6ms, total=123.18s, count=300, min=325.7ms, max=647.5ms + save_trajectories: mean=11.46s, total=11.46s, count=1, min=11461.9ms, max=11461.9ms + physics_step: mean=25.9ms, total=7.76s, count=300, min=15.1ms, max=91.4ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3971.1ms, max=3971.1ms + task_sampling: mean=676.4ms, total=1.35s, count=2, min=617.3ms, max=735.5ms + task_specific_sample: mean=673.0ms, total=1.35s, count=2, min=614.7ms, max=731.4ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=0.9ms, max=2.8ms + mj_forward_sync: mean=503.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=12.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:42:42 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153303m [env.py: 870] +05/12 08:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.57588504 -0.95721627 -0.15330322] yaw=-75.1deg [env.py: 1019] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.6ms, total=191.6ms [env.py: 1075] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.957, -0.153) [env.py: 1079] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg [env.py: 1082] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:42:44 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 08:42:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195173m [env.py: 870] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1105] +05/12 08:42:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:42:44 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:42:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139346m [env.py: 870] +05/12 08:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=205.3ms, total=205.3ms [env.py: 1105] +05/12 08:42:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:42:46 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:42:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.186s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:42:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.691[m] 88.591[deg] [grasp_sample.py: 539] +05/12 08:42:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174507m [env.py: 870] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48032699 -0.94931281 -0.17450735] yaw=-65.8deg [env.py: 1019] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.8ms, total=209.9ms [env.py: 1075] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.949, -0.175) [env.py: 1079] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/12 08:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:47 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:42:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:42:48 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 08:42:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:42:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:42:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:42:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:42:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:42:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168136m [env.py: 870] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:42:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23870477 -1.16599811 -0.16813613] yaw=-27.8deg [env.py: 1019] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4794877 -0.74069113 -0.16813613] yaw=-73.6deg [env.py: 1019] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35406328 -0.9055809 -0.16813613] yaw=-59.7deg [env.py: 1019] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:42:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=136.5ms, total=136.6ms [env.py: 1075] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.239, -1.166, -0.168) [env.py: 1079] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.8 deg [env.py: 1082] +05/12 08:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:42:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:42:49 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 08:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 08:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:42:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:42:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:42:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:42:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.924s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:42:53 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.733[m] 81.334[deg] [grasp_sample.py: 539] +05/12 08:42:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:42:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:42:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:42:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:43:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.109s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:43:00 INFO: [Worker 0] Feasible grasp found 145 (originally 145): w/ 0.732[m] 94.995[deg] [grasp_sample.py: 539] +05/12 08:43:02 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:43:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:43:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:43:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:43:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:43:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:43:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:43:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149311m [env.py: 870] +05/12 08:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:43:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.3ms, total=212.4ms [env.py: 1105] +05/12 08:43:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:43:04 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:43:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:43:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:43:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:43:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:43:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:43:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:43:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113087m [env.py: 870] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:43:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46094189 -0.97381263 -0.11308727] yaw=-59.8deg [env.py: 1019] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:43:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms [env.py: 1075] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.461, -0.974, -0.113) [env.py: 1079] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/12 08:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:43:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:43:05 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 08:43:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:43:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:43:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:43:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:43:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.523s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:43:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.734[m] 89.555[deg] [grasp_sample.py: 539] +05/12 08:43:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:43:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:43:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:43:36 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:43:43 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:43:56 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:43:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:43:56 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 08:43:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:44:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:44:03 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 08:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:44:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:44:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.172[m] 16.367[deg] [grasp_sample.py: 539] +05/12 08:44:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:44:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:44:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.91s (batch: 3.22s, save: 8.69s) [pipeline.py: 300] +05/12 08:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:09 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.66s: + episode_total: mean=71.75s, total=143.50s, count=2, min=372.2ms, max=143131.6ms + sensor_polling: mean=354.3ms, total=95.66s, count=270, min=302.3ms, max=612.3ms + save_trajectories: mean=8.69s, total=8.69s, count=1, min=8687.4ms, max=8687.4ms + physics_step: mean=22.8ms, total=6.15s, count=270, min=15.1ms, max=30.8ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3221.5ms, max=3221.5ms + task_specific_sample: mean=512.5ms, total=1.02s, count=2, min=366.3ms, max=658.7ms + task_sampling: mean=661.1ms, total=661.1ms, count=1, min=661.1ms, max=661.1ms + task_sampling_failed: mean=372.2ms, total=372.2ms, count=1, min=372.2ms, max=372.2ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=0.9ms, max=2.4ms + mj_forward_sync: mean=379.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103923m [env.py: 870] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40927061 -0.79217032 -0.10392348] yaw=-64.9deg [env.py: 1019] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3779443 -0.99544776 -0.10392348] yaw=-59.8deg [env.py: 1019] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=837.6ms, total=837.7ms [env.py: 1075] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.792, -0.104) [env.py: 1079] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/12 08:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 08:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:11 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.338s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:44:13 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:44:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199824m [env.py: 870] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.0ms, total=217.0ms [env.py: 1105] +05/12 08:44:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:44:14 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:44:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:44:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.14s (batch: 3.24s, save: 8.90s) [pipeline.py: 300] +05/12 08:44:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193654m [env.py: 870] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55346825 -0.84159956 -0.19365397] yaw=-72.6deg [env.py: 1019] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41866224 -0.97162932 -0.19365397] yaw=-50.8deg [env.py: 1019] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27990003 -1.22028247 -0.19365397] yaw=-29.5deg [env.py: 1019] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.3ms, total=214.3ms [env.py: 1075] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.842, -0.194) [env.py: 1079] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 08:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:16 INFO: [Worker 0] Object is not in grasp! 0.00154 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:44:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:44:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:16 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 426 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:16 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.61s: + episode_total: mean=143.48s, total=143.48s, count=1, min=143481.4ms, max=143481.4ms + sensor_polling: mean=357.1ms, total=99.26s, count=278, min=302.6ms, max=608.8ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8904.7ms, max=8904.7ms + physics_step: mean=23.7ms, total=6.58s, count=278, min=20.0ms, max=61.4ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3236.2ms, max=3236.2ms + task_sampling: mean=610.8ms, total=610.8ms, count=1, min=610.8ms, max=610.8ms + task_specific_sample: mean=606.1ms, total=606.1ms, count=1, min=606.1ms, max=606.1ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=477.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:44:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:16 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.056[m] 1.471[deg] [grasp_sample.py: 539] +05/12 08:44:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109793m [env.py: 870] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.3ms, total=208.3ms [env.py: 1105] +05/12 08:44:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:44:17 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:44:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:44:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180058m [env.py: 870] +05/12 08:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.197s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14481526 -1.12420168 -0.18005829] yaw=-33.2deg [env.py: 1019] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.8ms, total=197.8ms [env.py: 1075] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.124, -0.180) [env.py: 1079] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.2 deg [env.py: 1082] +05/12 08:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 08:44:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:19 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.560s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.172[m] 16.365[deg] [grasp_sample.py: 539] +05/12 08:44:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.528s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:24 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.741[m] 96.068[deg] [grasp_sample.py: 539] +05/12 08:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:25 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122918m [env.py: 870] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33228047 -0.90348425 -0.12291819] yaw=-62.8deg [env.py: 1019] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.6ms [env.py: 1075] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -0.903, -0.123) [env.py: 1079] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/12 08:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:44:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:26 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.596s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:44:28 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148691m [env.py: 870] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39826766 -0.80947372 -0.14869142] yaw=-67.6deg [env.py: 1019] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3451708 -1.01895236 -0.14869142] yaw=-58.2deg [env.py: 1019] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2867612 -1.00717894 -0.14869142] yaw=-40.7deg [env.py: 1019] +05/12 08:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.3ms [env.py: 1075] +05/12 08:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -0.809, -0.149) [env.py: 1079] +05/12 08:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg [env.py: 1082] +05/12 08:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:30 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:44:31 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:44:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:44:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.172[m] 16.365[deg] [grasp_sample.py: 539] +05/12 08:44:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118329m [env.py: 870] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28219172 -1.16494778 -0.11832872] yaw=-47.9deg [env.py: 1019] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.1ms [env.py: 1075] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.165, -0.118) [env.py: 1079] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 08:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 08:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:33 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.564s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 93.689[deg] [grasp_sample.py: 539] +05/12 08:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:35 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144084m [env.py: 870] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.5ms, total=196.5ms [env.py: 1105] +05/12 08:44:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:44:36 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.183s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:37 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.738[m] 94.512[deg] [grasp_sample.py: 539] +05/12 08:44:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101663m [env.py: 870] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24353511 -1.05241445 -0.10166285] yaw=-33.0deg [env.py: 1019] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=193.3ms, total=193.4ms [env.py: 1075] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.244, -1.052, -0.102) [env.py: 1079] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg [env.py: 1082] +05/12 08:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:38 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:38 INFO: [Worker 0] Object is not in grasp! 0.00183 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:44:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:44:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 390 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.423s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:39 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.664[deg] [grasp_sample.py: 539] +05/12 08:44:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:44:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:44:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:44:44 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:44:44 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=False episode_total=1.20s: + episode_total: mean=29.05s, total=116.18s, count=4, min=221.8ms, max=98714.2ms + sensor_polling: mean=365.6ms, total=56.31s, count=154, min=326.3ms, max=627.4ms + physics_step: mean=20.0ms, total=3.08s, count=154, min=13.0ms, max=32.3ms + task_specific_sample: mean=353.3ms, total=1.41s, count=4, min=218.5ms, max=433.9ms + task_sampling: mean=401.2ms, total=1.20s, count=3, min=352.4ms, max=436.2ms + task_sampling_failed: mean=221.8ms, total=221.8ms, count=1, min=221.8ms, max=221.8ms + scene_randomize: mean=1.5ms, total=5.8ms, count=4, min=0.9ms, max=2.5ms + mj_forward_sync: mean=474.2us, total=1.9ms, count=4, min=0.4ms, max=0.7ms + policy_setup: mean=15.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:44:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166541m [env.py: 870] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.2ms, total=207.2ms [env.py: 1105] +05/12 08:44:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:44:45 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:44:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181981m [env.py: 870] +05/12 08:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29433997 -1.16279323 -0.18198132] yaw=-32.1deg [env.py: 1019] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.6ms, total=205.7ms [env.py: 1075] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -1.163, -0.182) [env.py: 1079] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.1 deg [env.py: 1082] +05/12 08:44:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 08:44:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:47 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.167s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:47 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.774[m] 87.926[deg] [grasp_sample.py: 539] +05/12 08:44:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:44:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.626s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.631[m] 87.962[deg] [grasp_sample.py: 539] +05/12 08:44:50 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:44:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:44:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:44:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182906m [env.py: 870] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25145378 -1.18299662 -0.18290609] yaw=-33.9deg [env.py: 1019] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:44:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=242.3ms, total=242.3ms [env.py: 1075] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.183, -0.183) [env.py: 1079] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.9 deg [env.py: 1082] +05/12 08:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:44:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:44:52 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 08:44:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 08:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:44:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:44:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:44:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.217s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:44:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.663[m] 75.688[deg] [grasp_sample.py: 539] +05/12 08:44:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:44:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:44:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:44:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:44:58 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:44:58 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=False episode_total=2.34s: + episode_total: mean=17.91s, total=143.30s, count=8, min=216.0ms, max=131316.7ms + sensor_polling: mean=357.9ms, total=107.37s, count=300, min=301.8ms, max=565.5ms + physics_step: mean=23.9ms, total=7.16s, count=300, min=14.8ms, max=73.8ms + task_specific_sample: mean=390.4ms, total=3.12s, count=8, min=211.4ms, max=518.6ms + task_sampling: mean=467.5ms, total=2.34s, count=5, min=415.0ms, max=520.8ms + task_sampling_failed: mean=270.4ms, total=811.1ms, count=3, min=216.0ms, max=377.0ms + scene_randomize: mean=1.1ms, total=9.1ms, count=8, min=0.9ms, max=2.4ms + mj_forward_sync: mean=393.8us, total=3.2ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:45:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:45:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:45:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:45:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:45:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:45:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:45:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134469m [env.py: 870] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:45:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58933546 -1.01364358 -0.13446933] yaw=-53.5deg [env.py: 1019] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:45:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=244.4ms, total=244.5ms [env.py: 1075] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -1.014, -0.134) [env.py: 1079] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 08:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:45:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:45:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:45:00 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 08:45:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 08:45:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:45:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:45:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.802s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:45:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.680[m] 86.832[deg] [grasp_sample.py: 539] +05/12 08:45:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:45:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:45:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:45:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:45:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:45:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:45:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:45:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.511s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:45:39 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.488[m] 58.114[deg] [grasp_sample.py: 539] +05/12 08:45:40 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:45:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:45:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:45:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:45:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:45:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:45:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:45:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179525m [env.py: 870] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:45:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46231988 -0.83290173 -0.17952463] yaw=-67.7deg [env.py: 1019] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47407118 -1.08607224 -0.17952463] yaw=-63.2deg [env.py: 1019] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:45:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.3ms [env.py: 1075] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.833, -0.180) [env.py: 1079] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 08:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:45:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:45:42 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 08:45:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 08:45:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:45:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:45:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:45:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:45:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:45:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:45:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:45:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:45:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:45:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:45:57 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.128[m] 12.965[deg] [grasp_sample.py: 539] +05/12 08:45:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:45:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:45:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:45:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:45:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:45:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:45:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:45:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.504s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:45:59 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.279[m] 22.348[deg] [grasp_sample.py: 539] +05/12 08:46:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:46:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:46:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.080s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:46:04 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.758[m] 95.900[deg] [grasp_sample.py: 539] +05/12 08:46:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:46:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:46:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:46:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:46:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:46:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.492s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:46:12 INFO: [Worker 0] Feasible grasp found 238 (originally 238): w/ 0.267[m] 14.682[deg] [grasp_sample.py: 539] +05/12 08:46:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:46:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:46:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:23 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:46:24 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:46:24 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=False episode_total=1.50s: + episode_total: mean=43.72s, total=131.16s, count=3, min=225.8ms, max=128335.2ms + sensor_polling: mean=365.1ms, total=70.47s, count=193, min=299.0ms, max=555.5ms + physics_step: mean=22.5ms, total=4.35s, count=193, min=19.1ms, max=97.7ms + task_specific_sample: mean=573.5ms, total=1.72s, count=3, min=221.7ms, max=1078.5ms + task_sampling: mean=752.2ms, total=1.50s, count=2, min=422.4ms, max=1082.0ms + task_sampling_failed: mean=225.8ms, total=225.8ms, count=1, min=225.8ms, max=225.8ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.0ms, max=2.4ms + mj_forward_sync: mean=413.5us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:46:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:46:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:46:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:46:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:46:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:46:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195919m [env.py: 870] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:46:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.6ms, total=210.6ms [env.py: 1105] +05/12 08:46:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:46:25 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:46:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:46:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:46:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:46:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:46:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:46:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142303m [env.py: 870] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:46:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.9ms, total=211.9ms [env.py: 1105] +05/12 08:46:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:46:27 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:46:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:46:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:46:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:46:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:46:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:46:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:46:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154693m [env.py: 870] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:46:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.8ms, total=207.8ms [env.py: 1105] +05/12 08:46:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:46:28 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:46:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:46:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:46:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:46:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:46:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:46:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195024m [env.py: 870] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:46:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=225.0ms, total=225.1ms [env.py: 1105] +05/12 08:46:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:46:30 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:46:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:46:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:46:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:46:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:46:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:46:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189510m [env.py: 870] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:46:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63289011 -0.92333665 -0.18951027] yaw=-67.3deg [env.py: 1019] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59430312 -0.94065964 -0.18951027] yaw=-66.4deg [env.py: 1019] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:46:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.0ms, total=224.0ms [env.py: 1075] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.923, -0.190) [env.py: 1079] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 08:46:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:46:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:46:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:46:31 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 08:46:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 08:46:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:46:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:46:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:46:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.402s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:46:34 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.679[m] 87.372[deg] [grasp_sample.py: 539] +05/12 08:46:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:46:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:46:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:46:35 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:46:37 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:46:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:46:56 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 08:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:46:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:46:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:46:58 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 08:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:47:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:47:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.811s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.512[m] 61.153[deg] [grasp_sample.py: 539] +05/12 08:47:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:47:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:47:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:47:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:47:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.93s (batch: 3.55s, save: 9.38s) [pipeline.py: 300] +05/12 08:47:09 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=2.06s: + episode_total: mean=23.58s, total=165.06s, count=7, min=204.3ms, max=152188.9ms + sensor_polling: mean=338.9ms, total=98.61s, count=291, min=304.9ms, max=622.6ms + save_trajectories: mean=9.38s, total=9.38s, count=1, min=9379.9ms, max=9379.9ms + physics_step: mean=22.3ms, total=6.48s, count=291, min=19.6ms, max=73.0ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3547.3ms, max=3547.3ms + task_specific_sample: mean=352.3ms, total=2.47s, count=7, min=201.3ms, max=454.8ms + task_sampling: mean=412.5ms, total=2.06s, count=5, min=385.2ms, max=457.2ms + task_sampling_failed: mean=211.7ms, total=423.4ms, count=2, min=204.3ms, max=219.1ms + scene_randomize: mean=1.3ms, total=9.0ms, count=7, min=1.0ms, max=2.7ms + mj_forward_sync: mean=438.6us, total=3.1ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=12.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:47:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:47:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:47:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.84s (batch: 3.29s, save: 8.54s) [pipeline.py: 300] +05/12 08:47:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:47:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:47:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:47:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191973m [env.py: 870] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:47:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30966504 -1.17357882 -0.19197271] yaw=-50.3deg [env.py: 1019] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52684897 -0.91450869 -0.19197271] yaw=-65.0deg [env.py: 1019] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36517262 -0.96654922 -0.19197271] yaw=-45.4deg [env.py: 1019] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:47:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.7ms, total=182.8ms [env.py: 1075] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.174, -0.192) [env.py: 1079] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 08:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:11 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.92s: + episode_total: mean=47.75s, total=143.25s, count=3, min=215.5ms, max=139698.2ms + sensor_polling: mean=359.6ms, total=96.37s, count=268, min=314.5ms, max=570.2ms + save_trajectories: mean=8.54s, total=8.54s, count=1, min=8541.4ms, max=8541.4ms + physics_step: mean=21.7ms, total=5.81s, count=268, min=15.0ms, max=42.9ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3294.7ms, max=3294.7ms + task_specific_sample: mean=375.1ms, total=1.13s, count=3, min=212.1ms, max=474.0ms + task_sampling: mean=459.5ms, total=919.0ms, count=2, min=442.1ms, max=476.9ms + task_sampling_failed: mean=215.4ms, total=215.4ms, count=1, min=215.4ms, max=215.4ms + scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.6ms + mj_forward_sync: mean=420.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:47:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:47:11 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 08:47:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 08:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:47:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:47:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:47:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153404m [env.py: 870] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:47:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=324.7ms, total=324.7ms [env.py: 1105] +05/12 08:47:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:47:12 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:47:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:13 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.636[m] 84.006[deg] [grasp_sample.py: 539] +05/12 08:47:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:47:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:47:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:47:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:47:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:47:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135944m [env.py: 870] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:47:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55233487 -0.96369556 -0.1359438 ] yaw=-73.4deg [env.py: 1019] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42808621 -0.8533282 -0.1359438 ] yaw=-65.5deg [env.py: 1019] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:47:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=176.6ms, total=176.6ms [env.py: 1075] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.552, -0.964, -0.136) [env.py: 1079] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.4 deg [env.py: 1082] +05/12 08:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:47:14 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 08:47:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 08:47:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:47:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.007s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.512[m] 61.153[deg] [grasp_sample.py: 539] +05/12 08:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:47:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:47:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.992s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.691[m] 92.595[deg] [grasp_sample.py: 539] +05/12 08:47:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:47:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:47:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:47:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:47:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.953s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.512[m] 61.153[deg] [grasp_sample.py: 539] +05/12 08:47:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:47:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:47:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:47:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:47:45 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:47:45 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=0.46s: + episode_total: mean=15.07s, total=75.37s, count=5, min=215.1ms, max=74481.2ms + sensor_polling: mean=363.9ms, total=27.66s, count=76, min=296.1ms, max=577.1ms + physics_step: mean=19.9ms, total=1.51s, count=76, min=12.9ms, max=29.5ms + task_specific_sample: mean=265.8ms, total=1.33s, count=5, min=212.5ms, max=454.2ms + task_sampling_failed: mean=222.4ms, total=889.7ms, count=4, min=215.1ms, max=233.6ms + task_sampling: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms + scene_randomize: mean=1.0ms, total=5.1ms, count=5, min=0.9ms, max=1.2ms + mj_forward_sync: mean=407.7us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=11.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:47:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:47:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118485m [env.py: 870] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62059155 -0.80591609 -0.11848504] yaw=-78.8deg [env.py: 1019] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:47:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.9ms, total=231.0ms [env.py: 1075] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.806, -0.118) [env.py: 1079] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.8 deg [env.py: 1082] +05/12 08:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:47:47 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 08:47:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:47:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:47:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:47:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:47:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:47:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.550s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:47:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.540[m] 68.817[deg] [grasp_sample.py: 539] +05/12 08:47:51 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:47:52 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:47:52 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 08:47:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:47:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:47:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:47:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164372m [env.py: 870] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:47:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=227.1ms, total=227.1ms [env.py: 1105] +05/12 08:47:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:47:53 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:47:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:47:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:47:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:47:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147907m [env.py: 870] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:47:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.6ms, total=199.6ms [env.py: 1105] +05/12 08:47:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:47:55 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:47:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:47:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:47:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191099m [env.py: 870] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29562754 -1.07879168 -0.19109908] yaw=-56.1deg [env.py: 1019] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:47:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.7ms, total=213.7ms [env.py: 1075] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.079, -0.191) [env.py: 1079] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/12 08:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:47:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:47:56 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 08:47:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:47:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:47:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:47:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.147s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:01 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.714[m] 96.200[deg] [grasp_sample.py: 539] +05/12 08:48:02 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:48:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:03 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.788[m] 89.181[deg] [grasp_sample.py: 539] +05/12 08:48:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122149m [env.py: 870] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1497377 -1.01678318 -0.12214903] yaw=-44.6deg [env.py: 1019] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39868975 -1.11827368 -0.12214903] yaw=-46.7deg [env.py: 1019] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1075] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.150, -1.017, -0.122) [env.py: 1079] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 08:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:04 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:04 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:48:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.453s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:48:05 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:48:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122399m [env.py: 870] +05/12 08:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=591.5ms, total=591.5ms [env.py: 1105] +05/12 08:48:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:48:06 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147408m [env.py: 870] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26062565 -1.20211978 -0.14740753] yaw=-36.3deg [env.py: 1019] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.5ms, total=196.5ms [env.py: 1075] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -1.202, -0.147) [env.py: 1079] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg [env.py: 1082] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:07 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171796m [env.py: 870] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=352.9ms, total=352.9ms [env.py: 1105] +05/12 08:48:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:48:08 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:48:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:48:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173705m [env.py: 870] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=303.9ms, total=303.9ms [env.py: 1105] +05/12 08:48:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:48:09 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:48:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190558m [env.py: 870] +05/12 08:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30961667 -0.85424581 -0.19055772] yaw=-59.5deg [env.py: 1019] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.0ms, total=230.1ms [env.py: 1075] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -0.854, -0.191) [env.py: 1079] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/12 08:48:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 08:48:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:11 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:12 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:48:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:48:12 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 08:48:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.654s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:48:13 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:48:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.734s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:13 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.694[m] 77.749[deg] [grasp_sample.py: 539] +05/12 08:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:48:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178310m [env.py: 870] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.3ms, total=245.3ms [env.py: 1105] +05/12 08:48:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:48:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102912m [env.py: 870] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60819853 -0.84598623 -0.1029115 ] yaw=-68.5deg [env.py: 1019] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35033334 -1.08455847 -0.1029115 ] yaw=-40.6deg [env.py: 1019] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms [env.py: 1075] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.608, -0.846, -0.103) [env.py: 1079] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/12 08:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:16 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115916m [env.py: 870] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25773669 -1.12538017 -0.11591583] yaw=-37.7deg [env.py: 1019] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=415.9ms, total=415.9ms [env.py: 1075] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -1.125, -0.116) [env.py: 1079] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/12 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:16 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.230s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.730[m] 84.148[deg] [grasp_sample.py: 539] +05/12 08:48:19 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:48:19 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 08:48:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161452m [env.py: 870] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59924972 -0.76978251 -0.16145166] yaw=-80.1deg [env.py: 1019] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=332.9ms, total=333.0ms [env.py: 1075] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.770, -0.161) [env.py: 1079] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.1 deg [env.py: 1082] +05/12 08:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:22 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:48:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:48:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.66s (batch: 3.25s, save: 9.42s) [pipeline.py: 300] +05/12 08:48:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.823s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:25 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.799[m] 91.167[deg] [grasp_sample.py: 539] +05/12 08:48:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:48:25 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.91s: + episode_total: mean=102.03s, total=204.05s, count=2, min=40099.3ms, max=163950.8ms + sensor_polling: mean=339.4ms, total=115.05s, count=339, min=292.5ms, max=632.7ms + save_trajectories: mean=9.42s, total=9.42s, count=1, min=9415.3ms, max=9415.3ms + physics_step: mean=22.4ms, total=7.58s, count=339, min=15.4ms, max=86.6ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3245.5ms, max=3245.5ms + task_sampling: mean=452.5ms, total=905.1ms, count=2, min=434.2ms, max=470.9ms + task_specific_sample: mean=449.6ms, total=899.2ms, count=2, min=431.0ms, max=468.2ms + scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms + mj_forward_sync: mean=488.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=11.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:48:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:48:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106801m [env.py: 870] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42173554 -1.0940855 -0.10680095] yaw=-41.8deg [env.py: 1019] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.7ms, total=199.7ms [env.py: 1075] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -1.094, -0.107) [env.py: 1079] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/12 08:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:27 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.530s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.654[m] 77.285[deg] [grasp_sample.py: 539] +05/12 08:48:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:48:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:48:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:48:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.512s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:31 INFO: [Worker 0] Feasible grasp found 1296 (originally 632): w/ 0.764[m] 90.915[deg] [grasp_sample.py: 539] +05/12 08:48:32 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:48:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:48:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:48:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:48:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:48:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:48:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181477m [env.py: 870] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:48:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29848816 -1.1758233 -0.18147702] yaw=-41.6deg [env.py: 1019] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:48:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=242.7ms, total=242.8ms [env.py: 1075] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.176, -0.181) [env.py: 1079] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg [env.py: 1082] +05/12 08:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m [env.py: 1086] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:48:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:48:34 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 08:48:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 08:48:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:48:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:48:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:48:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.509s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:48:36 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.642[m] 85.748[deg] [grasp_sample.py: 539] +05/12 08:48:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:48:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:48:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:48:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:48:54 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:49:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:49:14 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/12 08:49:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:49:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:49:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.84s (batch: 3.32s, save: 8.53s) [pipeline.py: 300] +05/12 08:49:26 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.42s: + episode_total: mean=135.62s, total=135.62s, count=1, min=135624.0ms, max=135624.0ms + sensor_polling: mean=354.7ms, total=92.57s, count=261, min=307.2ms, max=692.8ms + save_trajectories: mean=8.53s, total=8.53s, count=1, min=8525.2ms, max=8525.2ms + physics_step: mean=23.2ms, total=6.06s, count=261, min=14.6ms, max=105.3ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3318.8ms, max=3318.8ms + task_sampling: mean=419.8ms, total=419.8ms, count=1, min=419.8ms, max=419.8ms + task_specific_sample: mean=416.1ms, total=416.1ms, count=1, min=416.1ms, max=416.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=422.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:49:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165204m [env.py: 870] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=178.8ms, total=178.8ms [env.py: 1105] +05/12 08:49:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:49:28 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:49:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:49:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:49:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:49:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136016m [env.py: 870] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:49:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:49:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.8ms, total=222.9ms [env.py: 1105] +05/12 08:49:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:49:29 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:49:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:49:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:49:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:49:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125761m [env.py: 870] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:49:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38499588 -0.86627572 -0.1257615 ] yaw=-55.6deg [env.py: 1019] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:49:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=285.8ms, total=285.8ms [env.py: 1075] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.866, -0.126) [env.py: 1079] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 08:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:49:31 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 08:49:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 08:49:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:49:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:49:33 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:49:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:49:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:49:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174311m [env.py: 870] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:49:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61239528 -0.82989256 -0.17431139] yaw=-79.7deg [env.py: 1019] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15969339 -1.09578726 -0.17431139] yaw=-47.0deg [env.py: 1019] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:49:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=218.2ms, total=218.3ms [env.py: 1075] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.830, -0.174) [env.py: 1079] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.7 deg [env.py: 1082] +05/12 08:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:49:34 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 08:49:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 08:49:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:49:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:49:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:49:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:49:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.535s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:49:39 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.771[m] 100.980[deg] [grasp_sample.py: 539] +05/12 08:49:40 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:49:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:49:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:49:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:49:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179060m [env.py: 870] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:49:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46054879 -1.03831393 -0.17906018] yaw=-48.7deg [env.py: 1019] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:49:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.4ms [env.py: 1075] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.461, -1.038, -0.179) [env.py: 1079] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg [env.py: 1082] +05/12 08:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:49:42 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 08:49:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:49:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:49:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.648[m] 78.132[deg] [grasp_sample.py: 539] +05/12 08:49:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.956s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:49:44 INFO: [Worker 0] Feasible grasp found 533 (originally 533): w/ 0.087[m] 16.659[deg] [grasp_sample.py: 539] +05/12 08:49:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:49:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:49:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:49:45 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:49:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:49:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:49:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:49:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:49:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149255m [env.py: 870] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:49:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1105] +05/12 08:49:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:49:46 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:49:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:49:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:49:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:49:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:49:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:49:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168750m [env.py: 870] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:49:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22587882 -1.15602951 -0.16875012] yaw=-43.5deg [env.py: 1019] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:49:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.7ms, total=235.8ms [env.py: 1075] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.156, -0.169) [env.py: 1079] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/12 08:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:49:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:49:48 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 08:49:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:49:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:49:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:49:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:49:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.706s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:49:50 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.706[m] 87.070[deg] [grasp_sample.py: 539] +05/12 08:49:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:49:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:49:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:12 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:50:19 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:50:33 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:50:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:50:33 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 08:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:50:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:50:40 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 08:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:50:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:50:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.89s (batch: 3.14s, save: 8.75s) [pipeline.py: 300] +05/12 08:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:46 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.41s: + episode_total: mean=139.37s, total=139.37s, count=1, min=139371.6ms, max=139371.6ms + sensor_polling: mean=333.9ms, total=89.15s, count=267, min=298.4ms, max=645.4ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8749.1ms, max=8749.1ms + physics_step: mean=22.1ms, total=5.90s, count=267, min=15.4ms, max=56.5ms + save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3144.4ms, max=3144.4ms + task_sampling: mean=409.9ms, total=409.9ms, count=1, min=409.9ms, max=409.9ms + task_specific_sample: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=417.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:50:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:50:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:50:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:50:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:50:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:50:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:50:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:50:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:50:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:50:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145830m [env.py: 870] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:50:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.67621376 -0.93224545 -0.14583011] yaw=-65.7deg [env.py: 1019] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:50:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=208.9ms [env.py: 1075] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.676, -0.932, -0.146) [env.py: 1079] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/12 08:50:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:50:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:50:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:50:47 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 08:50:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 08:50:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:50:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:50:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.454s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:50:47 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.131[m] 10.801[deg] [grasp_sample.py: 539] +05/12 08:50:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:50:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:50:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:50:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:50:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:50:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:50:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.06s (batch: 3.23s, save: 8.83s) [pipeline.py: 300] +05/12 08:50:53 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=2.66s: + episode_total: mean=19.42s, total=174.80s, count=9, min=253.3ms, max=138745.1ms + sensor_polling: mean=358.5ms, total=95.01s, count=265, min=296.6ms, max=653.9ms + save_trajectories: mean=8.83s, total=8.83s, count=1, min=8825.3ms, max=8825.3ms + physics_step: mean=23.1ms, total=6.13s, count=265, min=15.4ms, max=61.1ms + task_specific_sample: mean=462.1ms, total=4.16s, count=9, min=250.1ms, max=624.8ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3232.3ms, max=3232.3ms + task_sampling: mean=531.3ms, total=2.66s, count=5, min=454.9ms, max=627.7ms + task_sampling_failed: mean=382.8ms, total=1.53s, count=4, min=253.3ms, max=603.0ms + scene_randomize: mean=1.2ms, total=11.1ms, count=9, min=0.9ms, max=1.7ms + mj_forward_sync: mean=496.5us, total=4.5ms, count=9, min=0.4ms, max=0.7ms + policy_setup: mean=10.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:50:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.046s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:50:53 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.711[m] 80.726[deg] [grasp_sample.py: 539] +05/12 08:50:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:50:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:50:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:50:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:50:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:50:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:50:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:50:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:50:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148708m [env.py: 870] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:50:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16313305 -1.08936639 -0.14870813] yaw=-48.1deg [env.py: 1019] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:50:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.6ms, total=178.6ms [env.py: 1075] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.163, -1.089, -0.149) [env.py: 1079] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 08:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:50:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:50:54 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 08:50:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 08:50:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:50:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:50:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:50:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:50:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:50:56 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:50:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:50:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:50:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:50:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:50:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:50:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:50:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118040m [env.py: 870] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:50:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30771899 -0.9145078 -0.11804035] yaw=-43.3deg [env.py: 1019] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=160.7ms, total=160.8ms [env.py: 1075] +05/12 08:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -0.915, -0.118) [env.py: 1079] +05/12 08:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/12 08:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 08:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:50:58 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 08:50:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 08:50:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:50:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:50:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:50:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:50:59 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:51:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:51:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:51:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:51:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:51:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:51:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:51:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134994m [env.py: 870] +05/12 08:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:51:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:51:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:51:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:51:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.0ms, total=196.0ms [env.py: 1105] +05/12 08:51:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:51:01 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:51:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:51:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.438s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:51:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.126[m] 10.259[deg] [grasp_sample.py: 539] +05/12 08:51:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:51:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:51:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:51:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:51:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:51:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:51:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:51:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:51:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:51:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146938m [env.py: 870] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:51:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27248366 -1.15021564 -0.14693824] yaw=-37.8deg [env.py: 1019] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:51:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms [env.py: 1075] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.150, -0.147) [env.py: 1079] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 08:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:51:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:51:02 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 08:51:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 08:51:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:51:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:51:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:51:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.676[m] 74.524[deg] [grasp_sample.py: 539] +05/12 08:51:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:51:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:51:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:51:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:51:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:51:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:51:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.415s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:51:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.126[m] 10.258[deg] [grasp_sample.py: 539] +05/12 08:51:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:51:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:51:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:51:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:51:26 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:51:26 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=False episode_total=1.43s: + episode_total: mean=22.69s, total=113.44s, count=5, min=189.4ms, max=104486.2ms + sensor_polling: mean=410.9ms, total=59.58s, count=145, min=313.0ms, max=610.0ms + physics_step: mean=24.0ms, total=3.47s, count=145, min=13.7ms, max=64.5ms + task_specific_sample: mean=367.7ms, total=1.84s, count=5, min=184.5ms, max=581.1ms + task_sampling: mean=477.9ms, total=1.43s, count=3, min=420.8ms, max=584.0ms + task_sampling_failed: mean=210.2ms, total=420.4ms, count=2, min=189.4ms, max=231.0ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=1.0ms, max=2.0ms + mj_forward_sync: mean=394.4us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:51:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:51:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:51:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165213m [env.py: 870] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.1ms, total=199.1ms [env.py: 1105] +05/12 08:51:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:51:28 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:51:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:51:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:51:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:51:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:51:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:51:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:51:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:51:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:51:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:51:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161935m [env.py: 870] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:51:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=212.3ms, total=212.3ms [env.py: 1105] +05/12 08:51:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:51:29 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:51:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:51:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:51:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:51:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:51:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:51:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:51:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195311m [env.py: 870] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:51:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54669965 -1.030206 -0.19531074] yaw=-49.9deg [env.py: 1019] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:51:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.3ms [env.py: 1075] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -1.030, -0.195) [env.py: 1079] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 08:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:51:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:51:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:51:31 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 08:51:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 08:51:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:51:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:51:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:51:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.593s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:51:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.628[m] 78.305[deg] [grasp_sample.py: 539] +05/12 08:51:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:51:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:51:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:51:41 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:51:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:51:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:51:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:52:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:52:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:52:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:52:03 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 08:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:52:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:52:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:52:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:52:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:52:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 401 non-colliding grasps [grasp_sample.py: 465] +05/12 08:52:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.841s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:52:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.122[m] 8.078[deg] [grasp_sample.py: 539] +05/12 08:52:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:52:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:52:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:52:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:52:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.62s (batch: 3.50s, save: 9.12s) [pipeline.py: 300] +05/12 08:52:16 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=2.53s: + episode_total: mean=29.20s, total=292.03s, count=10, min=207.8ms, max=148292.9ms + sensor_polling: mean=378.4ms, total=178.99s, count=473, min=306.9ms, max=672.3ms + physics_step: mean=22.5ms, total=10.62s, count=473, min=14.9ms, max=85.9ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.2ms, max=9122.2ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3498.0ms, max=3498.0ms + task_specific_sample: mean=348.6ms, total=3.49s, count=10, min=204.3ms, max=469.7ms + task_sampling: mean=420.9ms, total=2.53s, count=6, min=397.8ms, max=472.8ms + task_sampling_failed: mean=248.6ms, total=994.4ms, count=4, min=207.8ms, max=337.9ms + scene_randomize: mean=1.2ms, total=11.9ms, count=10, min=0.9ms, max=1.9ms + mj_forward_sync: mean=427.5us, total=4.3ms, count=10, min=0.4ms, max=0.5ms + policy_setup: mean=12.0us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:52:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:52:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:52:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:52:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:52:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:52:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:52:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118515m [env.py: 870] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:52:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.2ms, total=213.2ms [env.py: 1105] +05/12 08:52:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:52:17 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:52:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:52:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:52:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:52:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:52:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142754m [env.py: 870] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=393.6ms, total=393.6ms [env.py: 1105] +05/12 08:52:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:52:19 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:52:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:52:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:52:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:52:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:52:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:52:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:52:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178671m [env.py: 870] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:52:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54958827 -0.91326201 -0.17867097] yaw=-59.7deg [env.py: 1019] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:52:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.6ms [env.py: 1075] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.913, -0.179) [env.py: 1079] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 08:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:52:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:52:21 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 08:52:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 08:52:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:52:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:52:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:52:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:52:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:52:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.054s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:52:26 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.686[m] 86.750[deg] [grasp_sample.py: 539] +05/12 08:52:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:52:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:52:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:52:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:52:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:52:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:52:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:52:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 336 non-colliding grasps [grasp_sample.py: 465] +05/12 08:52:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.397s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:52:30 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.041[m] 3.521[deg] [grasp_sample.py: 539] +05/12 08:52:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:52:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:52:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:39 INFO: [Worker 0] Object is not in grasp! 0.00190 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:52:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:52:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:52:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:52:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 08:52:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:52:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.102s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:52:45 INFO: [Worker 0] Feasible grasp found 587 (originally 587): w/ 0.144[m] 5.837[deg] [grasp_sample.py: 539] +05/12 08:52:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:52:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:52:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:52:49 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:52:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:52:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:52:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:53:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:53:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:53:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:53:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.546s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:53:07 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.146[m] 21.427[deg] [grasp_sample.py: 539] +05/12 08:53:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:53:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:53:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:53:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:53:08 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 08:53:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:53:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:53:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.02s (batch: 3.41s, save: 8.61s) [pipeline.py: 300] +05/12 08:53:21 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.23s: + episode_total: mean=35.76s, total=143.06s, count=4, min=204.2ms, max=138797.0ms + sensor_polling: mean=355.0ms, total=95.86s, count=270, min=305.1ms, max=601.6ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8612.0ms, max=8612.0ms + physics_step: mean=23.1ms, total=6.24s, count=270, min=14.9ms, max=46.9ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3409.1ms, max=3409.1ms + task_specific_sample: mean=356.4ms, total=1.43s, count=4, min=200.7ms, max=433.5ms + task_sampling: mean=411.3ms, total=1.23s, count=3, min=394.0ms, max=435.9ms + task_sampling_failed: mean=204.1ms, total=204.1ms, count=1, min=204.1ms, max=204.1ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=0.9ms, max=2.6ms + mj_forward_sync: mean=417.1us, total=1.7ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=11.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:53:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:53:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:53:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:53:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:53:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:53:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119055m [env.py: 870] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:53:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45311447 -0.80339814 -0.11905451] yaw=-62.9deg [env.py: 1019] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36741876 -0.80691239 -0.11905451] yaw=-63.8deg [env.py: 1019] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52551335 -0.87747564 -0.11905451] yaw=-55.8deg [env.py: 1019] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:53:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.6ms [env.py: 1075] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.803, -0.119) [env.py: 1079] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 08:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:53:22 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 08:53:23 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:53:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 08:53:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:53:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:53:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:53:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:53:24 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:53:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:25 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:53:25 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=False episode_total=0.47s: + episode_total: mean=158.45s, total=158.45s, count=1, min=158453.8ms, max=158453.8ms + sensor_polling: mean=357.3ms, total=107.19s, count=300, min=305.5ms, max=644.5ms + physics_step: mean=22.5ms, total=6.75s, count=300, min=15.3ms, max=39.6ms + task_sampling: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms + task_specific_sample: mean=469.0ms, total=469.0ms, count=1, min=469.0ms, max=469.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=377.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:53:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:53:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:53:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:53:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:53:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:53:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157548m [env.py: 870] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:53:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31265703 -1.02087557 -0.15754753] yaw=-48.2deg [env.py: 1019] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33641278 -1.03346609 -0.15754753] yaw=-57.8deg [env.py: 1019] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:53:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.9ms [env.py: 1075] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -1.021, -0.158) [env.py: 1079] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/12 08:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:53:26 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 08:53:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 08:53:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:53:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:53:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:53:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:53:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:53:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:53:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:53:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:53:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100001m [env.py: 870] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:53:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51765134 -0.86700137 -0.10000094] yaw=-64.0deg [env.py: 1019] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26259539 -1.13870924 -0.10000094] yaw=-44.5deg [env.py: 1019] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:53:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=184.9ms, total=185.0ms [env.py: 1075] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.867, -0.100) [env.py: 1079] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 08:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:53:27 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 08:53:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 08:53:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:53:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:53:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:53:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:53:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.715[m] 78.689[deg] [grasp_sample.py: 539] +05/12 08:53:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:53:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:53:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:53:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.843s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:53:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.778[m] 91.225[deg] [grasp_sample.py: 539] +05/12 08:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:30 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:53:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:53:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:53:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:53:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:53:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196839m [env.py: 870] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:53:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46434124 -0.98649263 -0.19683897] yaw=-50.2deg [env.py: 1019] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:53:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.3ms [env.py: 1075] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.986, -0.197) [env.py: 1079] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/12 08:53:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:53:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:53:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:53:32 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 08:53:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 08:53:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:53:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:53:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.685s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:53:35 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.695[m] 85.727[deg] [grasp_sample.py: 539] +05/12 08:53:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:53:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:53:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:53:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:53:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:53:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:53:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:53:38 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.127[m] 11.800[deg] [grasp_sample.py: 539] +05/12 08:53:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:53:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:53:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:45 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:53:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:53:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 08:53:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:53:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:53:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:53:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:53:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:53:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:53:59 INFO: [Worker 0] Feasible grasp found 486 (originally 486): w/ 0.236[m] 22.322[deg] [grasp_sample.py: 539] +05/12 08:53:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:54:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:54:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.85s (batch: 4.19s, save: 10.66s) [pipeline.py: 300] +05/12 08:54:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:54:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:00 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.43s: + episode_total: mean=50.23s, total=150.69s, count=3, min=206.9ms, max=150266.7ms + sensor_polling: mean=330.8ms, total=99.24s, count=300, min=295.7ms, max=645.6ms + save_trajectories: mean=10.66s, total=10.66s, count=1, min=10661.4ms, max=10661.4ms + physics_step: mean=22.0ms, total=6.61s, count=300, min=15.8ms, max=33.2ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.1ms, max=4191.1ms + task_specific_sample: mean=283.6ms, total=850.9ms, count=3, min=203.9ms, max=429.8ms + task_sampling: mean=432.0ms, total=432.0ms, count=1, min=432.0ms, max=432.0ms + task_sampling_failed: mean=214.0ms, total=428.0ms, count=2, min=206.9ms, max=221.1ms + scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=1.0ms, max=1.1ms + mj_forward_sync: mean=406.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104266m [env.py: 870] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36174524 -0.9421679 -0.10426595] yaw=-46.3deg [env.py: 1019] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.4ms, total=235.4ms [env.py: 1075] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -0.942, -0.104) [env.py: 1079] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 08:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:02 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.541s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:03 INFO: [Worker 0] Feasible grasp found 287 (originally 287): w/ 0.470[m] 34.915[deg] [grasp_sample.py: 539] +05/12 08:54:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.151s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:10 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.767[m] 81.663[deg] [grasp_sample.py: 539] +05/12 08:54:11 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178302m [env.py: 870] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1105] +05/12 08:54:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:54:12 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199486m [env.py: 870] +05/12 08:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=408.8ms, total=408.9ms [env.py: 1105] +05/12 08:54:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:54:14 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107979m [env.py: 870] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32988552 -0.83662091 -0.1079792 ] yaw=-50.3deg [env.py: 1019] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29392377 -1.22054902 -0.1079792 ] yaw=-39.8deg [env.py: 1019] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42710253 -0.78323378 -0.1079792 ] yaw=-70.7deg [env.py: 1019] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.8ms [env.py: 1075] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -0.837, -0.108) [env.py: 1079] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 08:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:16 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.332s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:54:17 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135496m [env.py: 870] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21952649 -1.03617464 -0.13549622] yaw=-35.4deg [env.py: 1019] +05/12 08:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1075] +05/12 08:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.036, -0.135) [env.py: 1079] +05/12 08:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/12 08:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/12 08:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:19 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:54:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:54:22 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:54:22 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=0.46s: + episode_total: mean=40.81s, total=122.44s, count=3, min=223.9ms, max=121814.8ms + sensor_polling: mean=372.9ms, total=79.44s, count=213, min=307.0ms, max=577.5ms + physics_step: mean=21.8ms, total=4.64s, count=213, min=19.7ms, max=32.1ms + task_specific_sample: mean=357.7ms, total=1.07s, count=3, min=218.8ms, max=455.6ms + task_sampling_failed: mean=313.3ms, total=626.6ms, count=2, min=223.9ms, max=402.7ms + task_sampling: mean=457.8ms, total=457.8ms, count=1, min=457.8ms, max=457.8ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.0ms, max=1.9ms + mj_forward_sync: mean=422.2us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108211m [env.py: 870] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.308975 -1.07917775 -0.10821109] yaw=-38.5deg [env.py: 1019] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.3ms, total=207.4ms [env.py: 1075] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -1.079, -0.108) [env.py: 1079] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg [env.py: 1082] +05/12 08:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:24 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:25 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 08:54:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123339m [env.py: 870] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52260486 -0.93013927 -0.12333862] yaw=-68.2deg [env.py: 1019] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.54871751 -0.7243967 -0.12333862] yaw=-78.0deg [env.py: 1019] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.1ms, total=201.1ms [env.py: 1075] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.930, -0.123) [env.py: 1079] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg [env.py: 1082] +05/12 08:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:27 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.065s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:27 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.759[m] 87.342[deg] [grasp_sample.py: 539] +05/12 08:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:28 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:54:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.801s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.741[m] 78.562[deg] [grasp_sample.py: 539] +05/12 08:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:30 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:54:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137094m [env.py: 870] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26470467 -0.8768883 -0.13709423] yaw=-50.9deg [env.py: 1019] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32202998 -1.22281402 -0.13709423] yaw=-46.0deg [env.py: 1019] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -0.877, -0.137) [env.py: 1079] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/12 08:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:30 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199097m [env.py: 870] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31890603 -1.08832317 -0.19909736] yaw=-39.1deg [env.py: 1019] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.4ms, total=225.5ms [env.py: 1075] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.088, -0.199) [env.py: 1079] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg [env.py: 1082] +05/12 08:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:31 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.818s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:54:32 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193038m [env.py: 870] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1105] +05/12 08:54:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:54:34 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:54:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:34 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.648[m] 84.098[deg] [grasp_sample.py: 539] +05/12 08:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:54:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:54:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:54:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:54:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:54:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181721m [env.py: 870] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:54:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55485957 -1.01746032 -0.18172089] yaw=-69.1deg [env.py: 1019] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59350633 -0.96435626 -0.18172089] yaw=-70.5deg [env.py: 1019] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:54:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.4ms, total=202.5ms [env.py: 1075] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -1.017, -0.182) [env.py: 1079] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 08:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:54:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:54:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:54:35 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 08:54:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 08:54:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:54:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:54:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.136[m] 11.147[deg] [grasp_sample.py: 539] +05/12 08:54:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.496s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:39 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.647[m] 82.340[deg] [grasp_sample.py: 539] +05/12 08:54:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:54:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:54:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:54:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:54:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.408s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:54:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.136[m] 11.145[deg] [grasp_sample.py: 539] +05/12 08:54:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:54:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:54:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:55:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:55:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:55:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.404s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:55:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.136[m] 11.145[deg] [grasp_sample.py: 539] +05/12 08:55:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:55:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:55:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:55:13 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 08:55:13 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:55:13 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=False episode_total=0.81s: + episode_total: mean=52.44s, total=104.88s, count=2, min=3476.9ms, max=101401.6ms + sensor_polling: mean=371.0ms, total=57.14s, count=154, min=290.5ms, max=893.9ms + physics_step: mean=22.3ms, total=3.43s, count=154, min=13.1ms, max=34.2ms + task_sampling: mean=404.2ms, total=808.4ms, count=2, min=399.3ms, max=409.1ms + task_specific_sample: mean=400.3ms, total=800.5ms, count=2, min=395.8ms, max=404.7ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.9ms, max=1.7ms + mj_forward_sync: mean=395.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166087m [env.py: 870] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61005414 -0.85631528 -0.1660874 ] yaw=-57.5deg [env.py: 1019] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:55:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.3ms [env.py: 1075] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.610, -0.856, -0.166) [env.py: 1079] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/12 08:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:55:15 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 08:55:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:55:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:55:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.653s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:55:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.741[m] 86.245[deg] [grasp_sample.py: 539] +05/12 08:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:21 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:55:21 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174239m [env.py: 870] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.5ms, total=198.5ms [env.py: 1105] +05/12 08:55:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:55:22 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:55:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121940m [env.py: 870] +05/12 08:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30800808 -1.19359827 -0.12193957] yaw=-35.3deg [env.py: 1019] +05/12 08:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:55:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.9ms, total=172.9ms [env.py: 1075] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.194, -0.122) [env.py: 1079] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 08:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 08:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:55:24 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 08:55:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 08:55:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:55:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.386s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:55:25 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.645[m] 80.220[deg] [grasp_sample.py: 539] +05/12 08:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:26 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182836m [env.py: 870] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11469024 -1.06625452 -0.18283599] yaw=-47.0deg [env.py: 1019] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=751.6ms, total=751.6ms [env.py: 1075] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.115, -1.066, -0.183) [env.py: 1079] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 08:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:55:29 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 08:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 08:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:55:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.353s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:55:30 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:55:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191494m [env.py: 870] +05/12 08:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=699.6ms, total=699.7ms [env.py: 1105] +05/12 08:55:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:55:32 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:55:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155817m [env.py: 870] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41275983 -0.97554479 -0.15581717] yaw=-57.9deg [env.py: 1019] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:55:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=397.8ms, total=397.9ms [env.py: 1075] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.976, -0.156) [env.py: 1079] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg [env.py: 1082] +05/12 08:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:55:34 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 08:55:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 08:55:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:55:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:55:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:55:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.451s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:55:36 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.133[m] 21.483[deg] [grasp_sample.py: 539] +05/12 08:55:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:55:36 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.748[m] 88.828[deg] [grasp_sample.py: 539] +05/12 08:55:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:55:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:55:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:37 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:55:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:55:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114630m [env.py: 870] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35250893 -0.95897785 -0.11462971] yaw=-63.1deg [env.py: 1019] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42582599 -0.9658387 -0.11462971] yaw=-59.1deg [env.py: 1019] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:55:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.5ms, total=224.6ms [env.py: 1075] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -0.959, -0.115) [env.py: 1079] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg [env.py: 1082] +05/12 08:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:55:38 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 08:55:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 08:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:55:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:55:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:55:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:55:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:55:42 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 08:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.766s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:55:43 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.750[m] 98.241[deg] [grasp_sample.py: 539] +05/12 08:55:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:55:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:55:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:55:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:55:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:55:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.52s (batch: 3.68s, save: 8.84s) [pipeline.py: 300] +05/12 08:55:55 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.79s: + episode_total: mean=75.82s, total=151.64s, count=2, min=2201.7ms, max=149439.8ms + sensor_polling: mean=375.9ms, total=103.75s, count=276, min=301.1ms, max=707.0ms + save_trajectories: mean=8.84s, total=8.84s, count=1, min=8842.6ms, max=8842.6ms + physics_step: mean=23.8ms, total=6.56s, count=276, min=15.1ms, max=36.4ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3681.2ms, max=3681.2ms + task_sampling: mean=396.3ms, total=792.6ms, count=2, min=365.1ms, max=427.5ms + task_specific_sample: mean=393.2ms, total=786.4ms, count=2, min=362.2ms, max=424.2ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.1ms, max=2.1ms + mj_forward_sync: mean=427.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:55:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152723m [env.py: 870] +05/12 08:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=336.1ms, total=336.1ms [env.py: 1105] +05/12 08:55:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:55:57 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:55:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:55:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:55:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:55:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:55:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:55:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:55:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:55:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:55:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:55:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116910m [env.py: 870] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:55:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:55:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=556.7ms, total=556.8ms [env.py: 1105] +05/12 08:55:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:55:59 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:56:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:56:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:56:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:56:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:56:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:56:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:56:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188807m [env.py: 870] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:56:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=586.2ms, total=586.3ms [env.py: 1105] +05/12 08:56:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:56:01 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:56:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:56:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:56:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:56:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:56:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:56:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114756m [env.py: 870] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:56:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53999469 -1.00389282 -0.11475614] yaw=-56.3deg [env.py: 1019] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45125511 -0.7564307 -0.11475614] yaw=-72.4deg [env.py: 1019] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:56:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=446.3ms, total=446.4ms [env.py: 1075] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -1.004, -0.115) [env.py: 1079] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/12 08:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:56:03 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 08:56:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 08:56:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:56:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:56:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:56:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:56:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.293s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:56:13 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.689[m] 77.344[deg] [grasp_sample.py: 539] +05/12 08:56:14 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:56:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:56:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:56:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:56:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:56:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:56:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:56:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144803m [env.py: 870] +05/12 08:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:56:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1105] +05/12 08:56:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:56:16 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:56:17 INFO: [Worker 0] Object is not in grasp! 0.00087 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:56:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:56:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:56:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:56:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:56:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:56:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:56:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:56:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:56:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144245m [env.py: 870] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:56:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.233s, found 418 non-colliding grasps [grasp_sample.py: 465] +05/12 08:56:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.2ms, total=204.3ms [env.py: 1105] +05/12 08:56:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:56:17 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:56:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.482s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:56:18 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.055[m] 1.369[deg] [grasp_sample.py: 539] +05/12 08:56:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:56:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:56:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:56:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:56:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:56:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:56:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:56:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:56:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136521m [env.py: 870] +05/12 08:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:56:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34745354 -0.99461843 -0.13652068] yaw=-44.1deg [env.py: 1019] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5955684 -0.74573296 -0.13652068] yaw=-67.6deg [env.py: 1019] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:56:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=340.7ms, total=340.8ms [env.py: 1075] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -0.995, -0.137) [env.py: 1079] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/12 08:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/12 08:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:56:19 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 08:56:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 08:56:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:56:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:56:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:56:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.646s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:56:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.744[m] 90.401[deg] [grasp_sample.py: 539] +05/12 08:56:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:56:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:56:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:56:25 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:56:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:56:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:42 INFO: [Worker 0] Object is not in grasp! 0.00125 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 08:56:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:56:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:56:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:56:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 390 non-colliding grasps [grasp_sample.py: 465] +05/12 08:56:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.366s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:56:43 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.134[m] 3.646[deg] [grasp_sample.py: 539] +05/12 08:56:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:56:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:56:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:56:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:56:45 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 08:56:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:56:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:56:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:56:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:56:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.25s (batch: 3.58s, save: 8.67s) [pipeline.py: 300] +05/12 08:56:58 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=2.19s: + episode_total: mean=24.06s, total=168.42s, count=7, min=210.9ms, max=146974.4ms + sensor_polling: mean=379.6ms, total=100.98s, count=266, min=301.8ms, max=703.5ms + save_trajectories: mean=8.67s, total=8.67s, count=1, min=8673.0ms, max=8673.0ms + physics_step: mean=24.9ms, total=6.62s, count=266, min=19.7ms, max=70.5ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3580.8ms, max=3580.8ms + task_specific_sample: mean=399.6ms, total=2.80s, count=7, min=207.2ms, max=479.9ms + task_sampling: mean=437.2ms, total=2.19s, count=5, min=405.3ms, max=483.2ms + task_sampling_failed: mean=315.3ms, total=630.5ms, count=2, min=210.9ms, max=419.6ms + scene_randomize: mean=1.2ms, total=8.4ms, count=7, min=0.9ms, max=2.2ms + mj_forward_sync: mean=437.3us, total=3.1ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=13.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:56:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:56:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:56:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:56:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:56:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:56:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:56:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184734m [env.py: 870] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:56:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43337081 -0.84968182 -0.18473438] yaw=-56.9deg [env.py: 1019] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:56:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.1ms, total=221.1ms [env.py: 1075] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -0.850, -0.185) [env.py: 1079] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 08:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:57:00 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 08:57:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 08:57:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:57:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:57:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:57:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:57:02 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 08:57:02 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=1.25s: + episode_total: mean=38.63s, total=154.50s, count=4, min=205.8ms, max=147092.4ms + sensor_polling: mean=369.8ms, total=110.93s, count=300, min=303.5ms, max=700.7ms + physics_step: mean=22.8ms, total=6.85s, count=300, min=15.3ms, max=105.5ms + task_specific_sample: mean=362.3ms, total=1.45s, count=4, min=202.7ms, max=430.2ms + task_sampling: mean=418.2ms, total=1.25s, count=3, min=402.2ms, max=432.4ms + task_sampling_failed: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms + scene_randomize: mean=1.1ms, total=4.5ms, count=4, min=1.0ms, max=1.4ms + mj_forward_sync: mean=404.5us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=10.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:57:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:57:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:57:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:57:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197076m [env.py: 870] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:57:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31894547 -0.8555839 -0.19707625] yaw=-58.6deg [env.py: 1019] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:57:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.4ms [env.py: 1075] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -0.856, -0.197) [env.py: 1079] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/12 08:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:57:04 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 08:57:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 08:57:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:57:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:57:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:57:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.278s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:57:05 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.728[m] 85.906[deg] [grasp_sample.py: 539] +05/12 08:57:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:57:05 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:57:06 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:57:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:57:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:57:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:57:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136700m [env.py: 870] +05/12 08:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:57:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.6ms, total=213.7ms [env.py: 1105] +05/12 08:57:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:57:07 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:57:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:57:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:57:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:57:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170096m [env.py: 870] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:57:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=176.8ms, total=176.9ms [env.py: 1105] +05/12 08:57:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:57:08 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:57:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:57:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:57:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:57:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173088m [env.py: 870] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:57:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28734718 -1.08434363 -0.17308803] yaw=-52.1deg [env.py: 1019] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32242906 -1.2015868 -0.17308803] yaw=-39.6deg [env.py: 1019] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=300.6ms, total=300.7ms [env.py: 1075] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -1.084, -0.173) [env.py: 1079] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg [env.py: 1082] +05/12 08:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:57:09 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 08:57:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:57:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:57:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:57:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:57:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:57:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:57:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:57:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197090m [env.py: 870] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:57:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.0ms, total=207.0ms [env.py: 1105] +05/12 08:57:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:57:09 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:57:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:57:10 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.714[m] 84.199[deg] [grasp_sample.py: 539] +05/12 08:57:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:57:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184704m [env.py: 870] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.8ms, total=171.8ms [env.py: 1105] +05/12 08:57:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:57:11 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:57:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:57:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:57:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:57:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:57:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:57:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:57:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:57:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170947m [env.py: 870] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:57:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49361065 -0.92722229 -0.17094664] yaw=-53.4deg [env.py: 1019] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55515711 -0.89055192 -0.17094664] yaw=-62.0deg [env.py: 1019] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:57:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.0ms, total=228.0ms [env.py: 1075] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.927, -0.171) [env.py: 1079] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 08:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:57:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:57:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:57:13 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 08:57:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 08:57:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:57:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:57:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:57:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.515s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:57:15 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.737[m] 87.250[deg] [grasp_sample.py: 539] +05/12 08:57:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:57:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:57:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:28 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:57:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:57:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:57:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:57:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 08:57:51 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 08:58:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:58:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:58:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.76s (batch: 4.31s, save: 12.45s) [pipeline.py: 300] +05/12 08:58:09 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=2.83s: + episode_total: mean=23.84s, total=166.90s, count=7, min=207.7ms, max=150859.6ms + sensor_polling: mean=326.0ms, total=92.57s, count=284, min=293.3ms, max=607.8ms + save_trajectories: mean=12.45s, total=12.45s, count=1, min=12451.2ms, max=12451.2ms + physics_step: mean=21.4ms, total=6.08s, count=284, min=14.5ms, max=48.0ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.6ms, max=4310.6ms + task_specific_sample: mean=532.0ms, total=3.72s, count=7, min=203.2ms, max=984.4ms + task_sampling: mean=565.6ms, total=2.83s, count=5, min=369.0ms, max=986.9ms + task_sampling_failed: mean=462.8ms, total=925.6ms, count=2, min=207.7ms, max=717.9ms + scene_randomize: mean=1.0ms, total=7.1ms, count=7, min=0.9ms, max=1.3ms + mj_forward_sync: mean=385.7us, total=2.7ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:58:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:58:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:58:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:58:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:58:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:58:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:58:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183939m [env.py: 870] +05/12 08:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:58:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:58:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25932184 -1.20105529 -0.18393896] yaw=-44.6deg [env.py: 1019] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:58:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:58:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=863.3ms, total=863.4ms [env.py: 1075] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.259, -1.201, -0.184) [env.py: 1079] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 08:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 08:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:58:12 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 08:58:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 08:58:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:58:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:58:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:58:13 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:58:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:58:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:58:20 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.654[m] 97.752[deg] [grasp_sample.py: 539] +05/12 08:58:21 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:58:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:58:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:58:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:58:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:58:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:58:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:58:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128941m [env.py: 870] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:58:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=310.1ms, total=310.2ms [env.py: 1105] +05/12 08:58:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:58:23 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:58:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:58:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:58:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:58:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:58:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:58:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165919m [env.py: 870] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:58:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42103861 -0.92278525 -0.16591882] yaw=-52.2deg [env.py: 1019] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61537934 -0.82999747 -0.16591882] yaw=-62.0deg [env.py: 1019] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:58:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.5ms [env.py: 1075] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -0.923, -0.166) [env.py: 1079] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 08:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:58:24 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 08:58:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 08:58:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:58:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:58:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:58:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.629s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:58:26 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.713[m] 90.246[deg] [grasp_sample.py: 539] +05/12 08:58:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:58:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:58:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:58:33 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:58:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 08:58:33 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 08:58:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:58:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:58:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.60s (batch: 3.48s, save: 9.12s) [pipeline.py: 300] +05/12 08:58:47 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=1.34s: + episode_total: mean=23.17s, total=162.22s, count=7, min=212.0ms, max=148020.8ms + sensor_polling: mean=350.3ms, total=99.84s, count=285, min=298.4ms, max=602.3ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9123.7ms, max=9123.7ms + physics_step: mean=22.8ms, total=6.49s, count=285, min=16.8ms, max=66.9ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3477.7ms, max=3477.7ms + task_specific_sample: mean=464.8ms, total=3.25s, count=7, min=209.1ms, max=687.3ms + task_sampling_failed: mean=389.3ms, total=1.95s, count=5, min=212.0ms, max=602.6ms + task_sampling: mean=668.3ms, total=1.34s, count=2, min=647.3ms, max=689.3ms + scene_randomize: mean=1.3ms, total=9.1ms, count=7, min=0.9ms, max=2.6ms + mj_forward_sync: mean=456.8us, total=3.2ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=11.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:58:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:58:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168057m [env.py: 870] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.1ms, total=190.1ms [env.py: 1105] +05/12 08:58:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:58:48 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:58:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:58:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:58:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:58:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:58:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:58:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:58:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151216m [env.py: 870] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:58:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23099787 -1.15718826 -0.15121559] yaw=-37.3deg [env.py: 1019] +05/12 08:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:58:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.2ms, total=211.2ms [env.py: 1075] +05/12 08:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.157, -0.151) [env.py: 1079] +05/12 08:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/12 08:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 08:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:58:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:58:50 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 08:58:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 08:58:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:58:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:58:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:58:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:58:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.717[m] 88.512[deg] [grasp_sample.py: 539] +05/12 08:58:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:58:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:58:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:58:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:59:03 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:10 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 08:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:59:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:59:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.506s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:59:21 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.181[m] 17.587[deg] [grasp_sample.py: 539] +05/12 08:59:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:59:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:59:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:23 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:59:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 08:59:23 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 08:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 08:59:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 08:59:30 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 08:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:59:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:59:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:59:34 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.181[m] 17.585[deg] [grasp_sample.py: 539] +05/12 08:59:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:59:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:59:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:59:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:59:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.23s (batch: 3.17s, save: 9.06s) [pipeline.py: 300] +05/12 08:59:36 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=1.16s: + episode_total: mean=30.20s, total=151.01s, count=5, min=178.9ms, max=143390.9ms + sensor_polling: mean=351.4ms, total=99.09s, count=282, min=301.5ms, max=690.8ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9059.3ms, max=9059.3ms + physics_step: mean=23.2ms, total=6.54s, count=282, min=14.9ms, max=53.3ms + save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3167.2ms, max=3167.2ms + task_specific_sample: mean=345.8ms, total=1.73s, count=5, min=176.5ms, max=691.9ms + task_sampling: mean=581.6ms, total=1.16s, count=2, min=469.3ms, max=694.0ms + task_sampling_failed: mean=193.4ms, total=580.3ms, count=3, min=178.9ms, max=215.4ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=1.8ms + mj_forward_sync: mean=408.5us, total=2.0ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171020m [env.py: 870] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56550326 -0.72043634 -0.17102033] yaw=-78.5deg [env.py: 1019] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:59:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.0ms, total=188.0ms [env.py: 1075] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.720, -0.171) [env.py: 1079] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.5 deg [env.py: 1082] +05/12 08:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:59:37 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 08:59:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 08:59:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.559s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:59:39 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102609m [env.py: 870] +05/12 08:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=374.2ms, total=374.2ms [env.py: 1105] +05/12 08:59:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:59:41 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110535m [env.py: 870] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=286.0ms, total=286.1ms [env.py: 1105] +05/12 08:59:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:59:42 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:59:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 08:59:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 08:59:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.71s (batch: 3.38s, save: 9.33s) [pipeline.py: 300] +05/12 08:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:43 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.94s: + episode_total: mean=52.44s, total=157.33s, count=3, min=223.2ms, max=155184.1ms + sensor_polling: mean=388.6ms, total=108.41s, count=279, min=312.9ms, max=687.0ms + save_trajectories: mean=9.33s, total=9.33s, count=1, min=9330.7ms, max=9330.7ms + physics_step: mean=24.1ms, total=6.72s, count=279, min=14.9ms, max=56.6ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3382.5ms, max=3382.5ms + task_specific_sample: mean=385.9ms, total=1.16s, count=3, min=218.4ms, max=514.7ms + task_sampling: mean=472.1ms, total=944.2ms, count=2, min=426.8ms, max=517.4ms + task_sampling_failed: mean=223.1ms, total=223.1ms, count=1, min=223.1ms, max=223.1ms + scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=1.0ms, max=1.3ms + mj_forward_sync: mean=456.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=11.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 08:59:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110427m [env.py: 870] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=257.0ms, total=257.1ms [env.py: 1105] +05/12 08:59:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:59:44 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165578m [env.py: 870] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=376.7ms, total=376.7ms [env.py: 1105] +05/12 08:59:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:59:45 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145457m [env.py: 870] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:59:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 08:59:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=374.0ms, total=374.1ms [env.py: 1105] +05/12 08:59:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:59:46 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166184m [env.py: 870] +05/12 08:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=299.0ms, total=299.1ms [env.py: 1105] +05/12 08:59:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:59:47 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:59:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186793m [env.py: 870] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23479838 -0.89728225 -0.18679344] yaw=-40.7deg [env.py: 1019] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35422071 -0.95577136 -0.18679344] yaw=-52.3deg [env.py: 1019] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:59:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:59:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.181[m] 17.585[deg] [grasp_sample.py: 539] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:59:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.1ms, total=233.1ms [env.py: 1075] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -0.897, -0.187) [env.py: 1079] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 08:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:59:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:59:47 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 08:59:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 08:59:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:59:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130917m [env.py: 870] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=197.2ms, total=197.3ms [env.py: 1105] +05/12 08:59:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 08:59:48 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 08:59:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.708s, found feasible grasp: False [grasp_sample.py: 500] +05/12 08:59:49 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 08:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163536m [env.py: 870] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40932006 -0.91161274 -0.16353636] yaw=-59.2deg [env.py: 1019] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48393224 -1.05411765 -0.16353636] yaw=-63.7deg [env.py: 1019] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46979222 -0.75623057 -0.16353636] yaw=-63.5deg [env.py: 1019] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:59:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.4ms, total=164.5ms [env.py: 1075] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.912, -0.164) [env.py: 1079] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/12 08:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:59:50 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 08:59:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 08:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101006m [env.py: 870] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47093613 -1.0890165 -0.10100637] yaw=-57.3deg [env.py: 1019] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:59:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=471.5ms, total=471.5ms [env.py: 1075] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -1.089, -0.101) [env.py: 1079] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 08:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:59:51 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 08:59:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 08:59:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.815s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:59:54 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.673[m] 94.810[deg] [grasp_sample.py: 539] +05/12 08:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 08:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 08:59:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 08:59:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 08:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.115s, found feasible grasp: True [grasp_sample.py: 500] +05/12 08:59:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.767[m] 90.719[deg] [grasp_sample.py: 539] +05/12 08:59:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:57 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 08:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 08:59:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 08:59:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 08:59:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 08:59:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 08:59:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189040m [env.py: 870] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 08:59:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28036455 -1.13399075 -0.18904025] yaw=-35.7deg [env.py: 1019] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30742836 -1.18329987 -0.18904025] yaw=-29.7deg [env.py: 1019] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41298406 -0.95560135 -0.18904025] yaw=-50.5deg [env.py: 1019] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 08:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.7ms [env.py: 1075] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.134, -0.189) [env.py: 1079] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.7 deg [env.py: 1082] +05/12 08:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 08:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 08:59:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 08:59:58 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 08:59:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 08:59:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 08:59:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 08:59:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 08:59:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 08:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 08:59:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 08:59:59 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:00:00 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:00:00 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=False episode_total=1.62s: + episode_total: mean=35.62s, total=106.85s, count=3, min=322.7ms, max=95933.8ms + sensor_polling: mean=326.0ms, total=48.90s, count=150, min=289.9ms, max=526.1ms + physics_step: mean=19.7ms, total=2.96s, count=150, min=13.3ms, max=42.1ms + task_specific_sample: mean=644.6ms, total=1.93s, count=3, min=317.8ms, max=1198.9ms + task_sampling: mean=811.3ms, total=1.62s, count=2, min=419.1ms, max=1203.4ms + task_sampling_failed: mean=322.7ms, total=322.7ms, count=1, min=322.7ms, max=322.7ms + scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=0.9ms, max=3.1ms + mj_forward_sync: mean=541.2us, total=1.6ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:00:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:00:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:00:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:00:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170559m [env.py: 870] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:00:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=354.8ms, total=354.8ms [env.py: 1105] +05/12 09:00:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:00:02 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:00:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:00:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:00:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:00:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131251m [env.py: 870] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:00:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.2ms, total=219.2ms [env.py: 1105] +05/12 09:00:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:00:03 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:00:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:00:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:00:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:00:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100289m [env.py: 870] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:00:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07921456 -1.07212895 -0.10028886] yaw=-41.0deg [env.py: 1019] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:00:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=212.0ms [env.py: 1075] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.079, -1.072, -0.100) [env.py: 1079] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg [env.py: 1082] +05/12 09:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:00:05 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 09:00:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:00:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:00:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:00:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:00:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.368s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:00:06 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:00:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:00:07 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.685[m] 92.994[deg] [grasp_sample.py: 539] +05/12 09:00:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:00:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:00:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:00:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119279m [env.py: 870] +05/12 09:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:00:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.2ms, total=200.3ms [env.py: 1105] +05/12 09:00:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:00:08 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:00:08 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:00:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:00:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:00:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:00:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158397m [env.py: 870] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:00:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.7ms, total=211.7ms [env.py: 1105] +05/12 09:00:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:00:09 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:00:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:00:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:00:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:00:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155839m [env.py: 870] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:00:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33173145 -0.92275228 -0.15583918] yaw=-63.0deg [env.py: 1019] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35632023 -1.19125164 -0.15583918] yaw=-50.5deg [env.py: 1019] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:00:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=285.6ms, total=285.7ms [env.py: 1075] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -0.923, -0.156) [env.py: 1079] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/12 09:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:00:10 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 09:00:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:00:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:00:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:00:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:00:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:00:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:00:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:00:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:00:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:00:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188600m [env.py: 870] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:00:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30514855 -1.04105755 -0.18860015] yaw=-42.5deg [env.py: 1019] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:00:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.7ms [env.py: 1075] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.305, -1.041, -0.189) [env.py: 1079] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/12 09:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 09:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:00:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:00:11 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 09:00:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 09:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:00:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:00:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:00:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:00:15 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.779[m] 98.202[deg] [grasp_sample.py: 539] +05/12 09:00:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:00:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:00:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:00:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.788s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:00:18 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.731[m] 80.696[deg] [grasp_sample.py: 539] +05/12 09:00:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:00:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:00:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:00:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:00:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:00:49 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:00:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:01:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:01:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:01:09 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 09:01:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:01:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:01:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:01:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:01:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.26s (batch: 3.31s, save: 8.96s) [pipeline.py: 300] +05/12 09:01:21 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.46s: + episode_total: mean=76.14s, total=152.28s, count=2, min=200.4ms, max=152083.4ms + sensor_polling: mean=387.9ms, total=108.22s, count=279, min=297.7ms, max=704.5ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8957.7ms, max=8957.7ms + physics_step: mean=25.6ms, total=7.14s, count=279, min=15.0ms, max=98.9ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3305.9ms, max=3305.9ms + task_specific_sample: mean=326.9ms, total=653.8ms, count=2, min=196.3ms, max=457.5ms + task_sampling: mean=460.2ms, total=460.2ms, count=1, min=460.2ms, max=460.2ms + task_sampling_failed: mean=200.4ms, total=200.4ms, count=1, min=200.4ms, max=200.4ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms + mj_forward_sync: mean=437.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:01:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:01:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:01:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:01:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:01:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:01:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193997m [env.py: 870] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:01:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17885367 -1.07259764 -0.19399716] yaw=-49.8deg [env.py: 1019] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44087396 -0.93429576 -0.19399716] yaw=-47.3deg [env.py: 1019] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:01:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=190.2ms, total=190.2ms [env.py: 1075] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -1.073, -0.194) [env.py: 1079] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 09:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:01:23 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 09:01:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 09:01:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:01:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:01:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:01:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.640s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:01:26 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.752[m] 74.313[deg] [grasp_sample.py: 539] +05/12 09:01:27 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:01:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:01:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:01:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:01:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:01:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:01:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:01:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147959m [env.py: 870] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:01:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=256.4ms, total=256.4ms [env.py: 1105] +05/12 09:01:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:01:29 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:01:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:01:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:01:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:01:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:01:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:01:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167898m [env.py: 870] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:01:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64561807 -0.96830452 -0.16789815] yaw=-62.3deg [env.py: 1019] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:01:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=203.0ms [env.py: 1075] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.646, -0.968, -0.168) [env.py: 1079] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/12 09:01:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:01:30 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 09:01:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:01:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:01:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:01:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:01:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.530s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:01:31 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.645[m] 86.168[deg] [grasp_sample.py: 539] +05/12 09:01:32 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:01:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:01:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:01:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:01:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:01:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:01:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:01:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195111m [env.py: 870] +05/12 09:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:01:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=369.1ms, total=369.1ms [env.py: 1105] +05/12 09:01:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:01:34 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:01:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:01:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:01:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:01:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:01:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:01:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169357m [env.py: 870] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:01:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5324287 -0.89793268 -0.16935714] yaw=-68.9deg [env.py: 1019] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45609476 -0.99343525 -0.16935714] yaw=-45.8deg [env.py: 1019] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28416219 -1.09350133 -0.16935714] yaw=-34.4deg [env.py: 1019] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:01:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.9ms, total=351.9ms [env.py: 1075] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.532, -0.898, -0.169) [env.py: 1079] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg [env.py: 1082] +05/12 09:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:01:36 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 09:01:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:01:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:01:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:01:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:01:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.397s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:01:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.663[m] 82.887[deg] [grasp_sample.py: 539] +05/12 09:01:38 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:01:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:01:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:01:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:01:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:01:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:01:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125996m [env.py: 870] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:01:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3452689 -1.10664511 -0.12599591] yaw=-49.6deg [env.py: 1019] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23368792 -1.0968275 -0.12599591] yaw=-46.5deg [env.py: 1019] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:01:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.6ms, total=240.7ms [env.py: 1075] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.107, -0.126) [env.py: 1079] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 09:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:01:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:01:40 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 09:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:01:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:01:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:01:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.455s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:01:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.694[m] 84.992[deg] [grasp_sample.py: 539] +05/12 09:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:01:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:01:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:01:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:01:43 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:02:03 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:02:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:02:03 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 09:02:04 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:02:12 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:02:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:02:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:02:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.43s (batch: 3.60s, save: 8.83s) [pipeline.py: 300] +05/12 09:02:16 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=1.55s: + episode_total: mean=21.59s, total=151.13s, count=7, min=264.7ms, max=145289.6ms + sensor_polling: mean=357.8ms, total=96.59s, count=270, min=302.2ms, max=648.7ms + save_trajectories: mean=8.83s, total=8.83s, count=1, min=8825.8ms, max=8825.8ms + physics_step: mean=23.5ms, total=6.33s, count=270, min=15.0ms, max=81.6ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3602.9ms, max=3602.9ms + task_specific_sample: mean=407.1ms, total=2.85s, count=7, min=261.9ms, max=664.6ms + task_sampling: mean=515.9ms, total=1.55s, count=3, min=435.0ms, max=667.1ms + task_sampling_failed: mean=333.8ms, total=1.34s, count=4, min=264.7ms, max=395.0ms + scene_randomize: mean=1.2ms, total=8.3ms, count=7, min=0.9ms, max=2.3ms + mj_forward_sync: mean=420.0us, total=2.9ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=13.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:02:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143493m [env.py: 870] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.2ms, total=222.2ms [env.py: 1105] +05/12 09:02:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:02:17 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:02:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117224m [env.py: 870] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5601962 -0.83042158 -0.11722412] yaw=-70.6deg [env.py: 1019] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:02:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.2ms, total=212.2ms [env.py: 1075] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.560, -0.830, -0.117) [env.py: 1079] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/12 09:02:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:02:19 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 09:02:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 09:02:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:02:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:02:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:02:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.531s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:02:21 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.761[m] 84.659[deg] [grasp_sample.py: 539] +05/12 09:02:22 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:02:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111933m [env.py: 870] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=213.2ms, total=213.2ms [env.py: 1105] +05/12 09:02:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:02:24 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:02:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168537m [env.py: 870] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48022873 -0.82423867 -0.16853713] yaw=-73.7deg [env.py: 1019] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:02:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.6ms [env.py: 1075] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.824, -0.169) [env.py: 1079] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg [env.py: 1082] +05/12 09:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:02:26 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 09:02:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:02:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:02:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:02:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:02:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:02:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:02:27 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 09:02:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.222s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:02:31 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.797[m] 96.323[deg] [grasp_sample.py: 539] +05/12 09:02:32 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:02:33 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:02:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:02:33 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 09:02:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:02:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121441m [env.py: 870] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.8ms, total=204.8ms [env.py: 1105] +05/12 09:02:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:02:34 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:02:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180351m [env.py: 870] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30094109 -0.93171899 -0.18035123] yaw=-46.9deg [env.py: 1019] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56443377 -0.7699364 -0.18035123] yaw=-69.4deg [env.py: 1019] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31534765 -1.04528629 -0.18035123] yaw=-54.3deg [env.py: 1019] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:02:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.2ms, total=172.3ms [env.py: 1075] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -0.932, -0.180) [env.py: 1079] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 09:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:02:35 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 09:02:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:02:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:02:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:02:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:02:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.440s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:02:38 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.786[m] 92.514[deg] [grasp_sample.py: 539] +05/12 09:02:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:02:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:02:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:02:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:02:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:02:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:02:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.84s (batch: 3.44s, save: 9.40s) [pipeline.py: 300] +05/12 09:02:40 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.89s: + episode_total: mean=25.42s, total=152.50s, count=6, min=208.6ms, max=149504.6ms + sensor_polling: mean=347.0ms, total=97.50s, count=281, min=294.8ms, max=655.1ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9401.2ms, max=9401.2ms + physics_step: mean=22.6ms, total=6.36s, count=281, min=14.8ms, max=33.6ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3440.2ms, max=3440.2ms + task_specific_sample: mean=315.1ms, total=1.89s, count=6, min=205.5ms, max=451.2ms + task_sampling_failed: mean=254.7ms, total=1.02s, count=4, min=208.6ms, max=362.7ms + task_sampling: mean=445.3ms, total=890.5ms, count=2, min=436.6ms, max=453.9ms + scene_randomize: mean=1.2ms, total=7.1ms, count=6, min=0.9ms, max=1.6ms + mj_forward_sync: mean=431.2us, total=2.6ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:02:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:02:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156368m [env.py: 870] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=252.0ms, total=252.0ms [env.py: 1105] +05/12 09:02:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:02:41 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:02:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178638m [env.py: 870] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37719345 -1.17171575 -0.1786381 ] yaw=-33.5deg [env.py: 1019] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5640212 -1.025217 -0.1786381] yaw=-71.4deg [env.py: 1019] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:02:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.7ms, total=248.7ms [env.py: 1075] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.172, -0.179) [env.py: 1079] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.5 deg [env.py: 1082] +05/12 09:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:02:43 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 09:02:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:02:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:02:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:02:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:02:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:02:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.437s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:02:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.618[m] 96.823[deg] [grasp_sample.py: 539] +05/12 09:02:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:02:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:02:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:02:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:02:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:02:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:02:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.39s (batch: 3.61s, save: 9.78s) [pipeline.py: 300] +05/12 09:02:47 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=1.32s: + episode_total: mean=29.22s, total=175.31s, count=6, min=207.8ms, max=157344.0ms + sensor_polling: mean=372.2ms, total=107.58s, count=289, min=318.1ms, max=641.0ms + save_trajectories: mean=9.78s, total=9.78s, count=1, min=9776.7ms, max=9776.7ms + physics_step: mean=22.5ms, total=6.50s, count=289, min=15.1ms, max=35.3ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3609.4ms, max=3609.4ms + task_specific_sample: mean=366.9ms, total=2.20s, count=6, min=204.2ms, max=495.3ms + task_sampling: mean=438.7ms, total=1.32s, count=3, min=376.0ms, max=497.6ms + task_sampling_failed: mean=301.3ms, total=903.9ms, count=3, min=207.8ms, max=386.8ms + scene_randomize: mean=1.3ms, total=8.0ms, count=6, min=0.9ms, max=2.6ms + mj_forward_sync: mean=463.2us, total=2.8ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:02:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159680m [env.py: 870] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50586589 -0.9069927 -0.15967982] yaw=-68.4deg [env.py: 1019] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:02:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.9ms, total=193.0ms [env.py: 1075] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.506, -0.907, -0.160) [env.py: 1079] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.4 deg [env.py: 1082] +05/12 09:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:02:49 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 09:02:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 09:02:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:02:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:02:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:02:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.686s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:02:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.682[m] 88.881[deg] [grasp_sample.py: 539] +05/12 09:02:53 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:02:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127589m [env.py: 870] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=726.2ms, total=726.3ms [env.py: 1105] +05/12 09:02:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:02:55 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:02:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:02:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:02:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:02:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:02:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:02:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157497m [env.py: 870] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:02:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34283346 -1.05178847 -0.15749702] yaw=-56.9deg [env.py: 1019] +05/12 09:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:02:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=453.9ms, total=453.9ms [env.py: 1075] +05/12 09:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -1.052, -0.157) [env.py: 1079] +05/12 09:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 09:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 09:02:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:02:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:02:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:02:57 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 09:02:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:02:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:02:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:02:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:02:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.646s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:02:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.690[m] 85.832[deg] [grasp_sample.py: 539] +05/12 09:02:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:02:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:02:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:03:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:34 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:03:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:03:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:03:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:03:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:03:53 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:03:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:03:53 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 09:04:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:04:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:04:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.07s (batch: 3.84s, save: 11.23s) [pipeline.py: 300] +05/12 09:04:09 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=1.93s: + episode_total: mean=26.67s, total=160.00s, count=6, min=265.4ms, max=149560.6ms + sensor_polling: mean=376.7ms, total=102.83s, count=273, min=301.7ms, max=658.6ms + save_trajectories: mean=11.23s, total=11.23s, count=1, min=11234.6ms, max=11234.6ms + physics_step: mean=24.9ms, total=6.81s, count=273, min=14.9ms, max=96.3ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3835.0ms, max=3835.0ms + task_specific_sample: mean=426.4ms, total=2.56s, count=6, min=261.4ms, max=568.1ms + task_sampling: mean=483.2ms, total=1.93s, count=4, min=445.1ms, max=570.8ms + task_sampling_failed: mean=322.2ms, total=644.4ms, count=2, min=265.3ms, max=379.1ms + scene_randomize: mean=1.3ms, total=8.0ms, count=6, min=1.0ms, max=2.1ms + mj_forward_sync: mean=509.4us, total=3.1ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=11.6us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:04:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:04:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:04:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:04:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:04:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:04:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:04:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132841m [env.py: 870] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:04:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5269569 -0.93228859 -0.13284056] yaw=-66.2deg [env.py: 1019] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31969966 -0.85382753 -0.13284056] yaw=-62.7deg [env.py: 1019] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45428321 -0.85908188 -0.13284056] yaw=-58.2deg [env.py: 1019] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:04:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=163.6ms, total=163.7ms [env.py: 1075] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.932, -0.133) [env.py: 1079] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 09:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:04:11 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 09:04:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 09:04:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:04:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:04:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:04:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.520s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:04:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.705[m] 89.711[deg] [grasp_sample.py: 539] +05/12 09:04:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:14 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:04:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:04:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:04:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:04:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:04:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:04:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101760m [env.py: 870] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:04:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31482598 -1.12659442 -0.10175972] yaw=-49.1deg [env.py: 1019] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:04:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.7ms, total=269.7ms [env.py: 1075] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.127, -0.102) [env.py: 1079] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 09:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:04:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:04:16 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 09:04:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 09:04:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:04:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:04:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:04:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.685s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:04:20 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.755[m] 85.754[deg] [grasp_sample.py: 539] +05/12 09:04:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:04:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:04:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:04:22 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:04:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:04:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:04:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:04:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 340 non-colliding grasps [grasp_sample.py: 465] +05/12 09:04:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:04:24 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.128[m] 4.327[deg] [grasp_sample.py: 539] +05/12 09:04:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:04:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:04:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:28 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:04:29 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:04:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:04:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:04:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:04:49 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 09:04:49 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:04:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:04:49 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/12 09:04:53 INFO: [Worker 0] Object is not in grasp! 0.00168 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:04:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:04:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:04:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:04:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 416 non-colliding grasps [grasp_sample.py: 465] +05/12 09:04:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.541s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:04:53 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.052[m] 1.874[deg] [grasp_sample.py: 539] +05/12 09:04:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:04:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:04:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:04:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:05:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:05:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.78s (batch: 3.28s, save: 8.50s) [pipeline.py: 300] +05/12 09:05:01 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.49s: + episode_total: mean=69.29s, total=138.58s, count=2, min=262.6ms, max=138314.5ms + sensor_polling: mean=365.9ms, total=96.24s, count=263, min=314.1ms, max=632.1ms + save_trajectories: mean=8.50s, total=8.50s, count=1, min=8500.8ms, max=8500.8ms + physics_step: mean=22.9ms, total=6.02s, count=263, min=14.8ms, max=38.0ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3276.4ms, max=3276.4ms + task_specific_sample: mean=374.3ms, total=748.7ms, count=2, min=257.8ms, max=490.9ms + task_sampling: mean=493.2ms, total=493.2ms, count=1, min=493.2ms, max=493.2ms + task_sampling_failed: mean=262.6ms, total=262.6ms, count=1, min=262.6ms, max=262.6ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=0.9ms, max=2.6ms + mj_forward_sync: mean=397.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:05:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:05:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:05:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.94s (batch: 3.29s, save: 9.65s) [pipeline.py: 300] +05/12 09:05:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142107m [env.py: 870] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:02 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=1.26s: + episode_total: mean=26.41s, total=158.45s, count=6, min=214.0ms, max=147517.3ms + sensor_polling: mean=342.4ms, total=101.01s, count=295, min=302.2ms, max=608.0ms + save_trajectories: mean=9.65s, total=9.65s, count=1, min=9652.0ms, max=9652.0ms + physics_step: mean=22.4ms, total=6.62s, count=295, min=15.1ms, max=38.1ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3289.8ms, max=3289.8ms + task_specific_sample: mean=318.9ms, total=1.91s, count=6, min=210.0ms, max=451.8ms + task_sampling: mean=420.8ms, total=1.26s, count=3, min=382.8ms, max=454.4ms + task_sampling_failed: mean=223.5ms, total=670.4ms, count=3, min=213.9ms, max=233.1ms + scene_randomize: mean=1.3ms, total=8.1ms, count=6, min=1.0ms, max=2.7ms + mj_forward_sync: mean=431.1us, total=2.6ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25880473 -0.90551066 -0.14210714] yaw=-38.7deg [env.py: 1019] +05/12 09:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.9ms, total=219.0ms [env.py: 1075] +05/12 09:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.259, -0.906, -0.142) [env.py: 1079] +05/12 09:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg [env.py: 1082] +05/12 09:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 09:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:03 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195074m [env.py: 870] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.4ms, total=216.5ms [env.py: 1105] +05/12 09:05:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:04 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.422s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:05:04 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:05:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:05:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110173m [env.py: 870] +05/12 09:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173738m [env.py: 870] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27909859 -0.90853862 -0.11017342] yaw=-51.2deg [env.py: 1019] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18873093 -0.99097847 -0.17373849] yaw=-39.0deg [env.py: 1019] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.8ms [env.py: 1075] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -0.909, -0.110) [env.py: 1079] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.2ms, total=225.3ms [env.py: 1075] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -0.991, -0.174) [env.py: 1079] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg [env.py: 1082] +05/12 09:05:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:06 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:06 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.543s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:05:08 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:05:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.533s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:05:08 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:05:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152921m [env.py: 870] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21204843 -1.16746796 -0.15292095] yaw=-27.3deg [env.py: 1019] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44580171 -1.05916725 -0.15292095] yaw=-58.3deg [env.py: 1019] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:05:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176786m [env.py: 870] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56746875 -0.84319847 -0.17678551] yaw=-69.8deg [env.py: 1019] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.0ms, total=245.0ms [env.py: 1075] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.167, -0.153) [env.py: 1079] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.3 deg [env.py: 1082] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36273805 -1.0967807 -0.17678551] yaw=-56.8deg [env.py: 1019] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=266.8ms, total=266.8ms [env.py: 1075] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.567, -0.843, -0.177) [env.py: 1079] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg [env.py: 1082] +05/12 09:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:09 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:10 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.094s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:12 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.714[m] 87.220[deg] [grasp_sample.py: 539] +05/12 09:05:13 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:05:14 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:05:14 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=False episode_total=1.18s: + episode_total: mean=47.63s, total=142.89s, count=3, min=746.0ms, max=137686.3ms + sensor_polling: mean=380.6ms, total=114.19s, count=300, min=335.3ms, max=716.1ms + physics_step: mean=22.6ms, total=6.77s, count=300, min=15.1ms, max=34.3ms + task_specific_sample: mean=636.0ms, total=1.91s, count=3, min=506.2ms, max=731.0ms + task_sampling: mean=591.6ms, total=1.18s, count=2, min=510.1ms, max=673.1ms + task_sampling_failed: mean=745.9ms, total=745.9ms, count=1, min=745.9ms, max=745.9ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.6ms + mj_forward_sync: mean=453.5us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:05:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120001m [env.py: 870] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08832546 -1.0569007 -0.12000103] yaw=-43.6deg [env.py: 1019] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.4ms, total=208.5ms [env.py: 1075] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.088, -1.057, -0.120) [env.py: 1079] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg [env.py: 1082] +05/12 09:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.634s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.755[m] 92.395[deg] [grasp_sample.py: 539] +05/12 09:05:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:14 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188228m [env.py: 870] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=588.1ms, total=588.2ms [env.py: 1105] +05/12 09:05:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:16 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:16 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:05:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.836s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:05:16 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:05:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185630m [env.py: 870] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189195m [env.py: 870] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=622.5ms, total=622.5ms [env.py: 1105] +05/12 09:05:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:18 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=477.8ms, total=477.9ms [env.py: 1105] +05/12 09:05:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:18 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194923m [env.py: 870] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=164.1ms, total=164.1ms [env.py: 1105] +05/12 09:05:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:18 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107730m [env.py: 870] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187817m [env.py: 870] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2079854 -1.15176199 -0.18781696] yaw=-29.8deg [env.py: 1019] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184833m [env.py: 870] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29967812 -1.00862287 -0.10772967] yaw=-38.6deg [env.py: 1019] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.1ms, total=265.1ms [env.py: 1075] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.009, -0.108) [env.py: 1079] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.6 deg [env.py: 1082] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26291352 -0.94108232 -0.18781696] yaw=-54.7deg [env.py: 1019] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=410.7ms, total=410.8ms [env.py: 1075] +05/12 09:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.152, -0.188) [env.py: 1079] +05/12 09:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.8 deg [env.py: 1082] +05/12 09:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 09:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:20 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=470.1ms, total=470.2ms [env.py: 1105] +05/12 09:05:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:20 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:20 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161563m [env.py: 870] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43399498 -1.10018871 -0.16156286] yaw=-52.1deg [env.py: 1019] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57188561 -0.9152149 -0.16156286] yaw=-66.1deg [env.py: 1019] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42468542 -0.91949153 -0.16156286] yaw=-55.1deg [env.py: 1019] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.9ms, total=214.9ms [env.py: 1075] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.100, -0.162) [env.py: 1079] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg [env.py: 1082] +05/12 09:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:22 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.955s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:23 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.784[m] 85.573[deg] [grasp_sample.py: 539] +05/12 09:05:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:05:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.008s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:23 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.737[m] 90.529[deg] [grasp_sample.py: 539] +05/12 09:05:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.634[m] 82.831[deg] [grasp_sample.py: 539] +05/12 09:05:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:05:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:05:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:05:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:24 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:05:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101023m [env.py: 870] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=269.3ms, total=269.3ms [env.py: 1105] +05/12 09:05:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:26 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134864m [env.py: 870] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25710765 -1.14229275 -0.13486364] yaw=-34.8deg [env.py: 1019] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58059303 -0.72216267 -0.13486364] yaw=-75.8deg [env.py: 1019] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51882209 -0.84510255 -0.13486364] yaw=-60.5deg [env.py: 1019] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=343.5ms, total=343.6ms [env.py: 1075] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -1.142, -0.135) [env.py: 1079] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg [env.py: 1082] +05/12 09:05:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 09:05:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:28 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:05:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.262s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:05:36 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.723[m] 76.149[deg] [grasp_sample.py: 539] +05/12 09:05:37 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:05:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116331m [env.py: 870] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34573814 -0.87905226 -0.11633147] yaw=-58.4deg [env.py: 1019] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.9ms [env.py: 1075] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -0.879, -0.116) [env.py: 1079] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg [env.py: 1082] +05/12 09:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:39 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.584s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:05:41 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:05:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183399m [env.py: 870] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=511.9ms, total=511.9ms [env.py: 1105] +05/12 09:05:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:05:43 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:05:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:05:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:05:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:05:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:05:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:05:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120474m [env.py: 870] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:05:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12085067 -1.02159603 -0.12047357] yaw=-40.4deg [env.py: 1019] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:05:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=362.6ms, total=362.6ms [env.py: 1075] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.121, -1.022, -0.120) [env.py: 1079] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg [env.py: 1082] +05/12 09:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:05:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:05:45 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 09:05:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 09:05:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:05:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:05:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:05:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.549s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:05:46 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:05:48 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:05:48 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:05:48 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes [pipeline.py: 1323] +05/12 09:05:48 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=3992.33s + House averages: + episode_total: mean=31.66s, total=2279.37s, count=72, min=178.9ms, max=178294.0ms + sensor_polling: mean=354.3ms, total=1389.47s, count=3922, min=295.1ms, max=715.6ms + save_trajectories: mean=9.30s, total=120.87s, count=13, min=8525.2ms, max=10661.4ms + physics_step: mean=23.1ms, total=90.53s, count=3922, min=13.7ms, max=105.3ms + save_batch_prep: mean=3.51s, total=45.67s, count=13, min=2949.7ms, max=4191.1ms + task_specific_sample: mean=400.4ms, total=28.83s, count=72, min=176.5ms, max=842.2ms + task_sampling: mean=528.3ms, total=24.30s, count=46, min=329.4ms, max=2984.9ms + task_sampling_failed: mean=278.3ms, total=7.24s, count=26, min=178.9ms, max=630.8ms + scene_load: mean=2.48s, total=2.48s, count=1, min=2475.0ms, max=2475.0ms + scene_env_create: mean=1.43s, total=1.43s, count=1, min=1432.2ms, max=1432.2ms + scene_compile: mean=846.1ms, total=846.1ms, count=1, min=846.1ms, max=846.1ms + compile_mujoco: mean=536.1ms, total=536.1ms, count=1, min=536.1ms, max=536.1ms + compile_xml_load: mean=244.1ms, total=244.1ms, count=1, min=244.1ms, max=244.1ms + scene_init: mean=109.5ms, total=109.5ms, count=1, min=109.5ms, max=109.5ms + scene_randomize: mean=1.4ms, total=97.2ms, count=72, min=0.9ms, max=3.2ms + scene_asset_install: mean=87.0ms, total=87.0ms, count=1, min=87.0ms, max=87.0ms + asset_install_grasps: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + mj_forward_sync: mean=431.9us, total=31.1ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=22.0ms, total=22.0ms, count=1, min=22.0ms, max=22.0ms + asset_install_scene: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + policy_setup: mean=15.2us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:05:48 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:05:48 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=3992.33s + Worker averages: + episode_total: mean=31.66s, total=2279.37s, count=72, min=178.9ms, max=178294.0ms + sensor_polling: mean=354.3ms, total=1389.47s, count=3922, min=295.1ms, max=715.6ms + save_trajectories: mean=9.30s, total=120.87s, count=13, min=8525.2ms, max=10661.4ms + physics_step: mean=23.1ms, total=90.53s, count=3922, min=13.7ms, max=105.3ms + save_batch_prep: mean=3.51s, total=45.67s, count=13, min=2949.7ms, max=4191.1ms + task_specific_sample: mean=400.4ms, total=28.83s, count=72, min=176.5ms, max=842.2ms + task_sampling: mean=528.3ms, total=24.30s, count=46, min=329.4ms, max=2984.9ms + task_sampling_failed: mean=278.3ms, total=7.24s, count=26, min=178.9ms, max=630.8ms + scene_load: mean=2.48s, total=2.48s, count=1, min=2475.0ms, max=2475.0ms + scene_env_create: mean=1.43s, total=1.43s, count=1, min=1432.2ms, max=1432.2ms + scene_compile: mean=846.1ms, total=846.1ms, count=1, min=846.1ms, max=846.1ms + compile_mujoco: mean=536.1ms, total=536.1ms, count=1, min=536.1ms, max=536.1ms + compile_xml_load: mean=244.1ms, total=244.1ms, count=1, min=244.1ms, max=244.1ms + scene_init: mean=109.5ms, total=109.5ms, count=1, min=109.5ms, max=109.5ms + scene_randomize: mean=1.4ms, total=97.2ms, count=72, min=0.9ms, max=3.2ms + scene_asset_install: mean=87.0ms, total=87.0ms, count=1, min=87.0ms, max=87.0ms + asset_install_grasps: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + mj_forward_sync: mean=431.9us, total=31.1ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=22.0ms, total=22.0ms, count=1, min=22.0ms, max=22.0ms + asset_install_scene: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + policy_setup: mean=15.2us, total=0.7ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:05:50 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:05:50 INFO: Success count: 13, Total count: 14 [pipeline.py: 1491] +05/12 09:05:50 INFO: Success rate: 92.86% [pipeline.py: 1492] +05/12 09:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:06:15 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:06:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:06:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:06:37 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:06:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:06:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:06:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:06:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 335 non-colliding grasps [grasp_sample.py: 465] +05/12 09:06:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:38 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:06:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:06:38 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 09:06:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.668s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:06:39 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.127[m] 4.597[deg] [grasp_sample.py: 539] +05/12 09:06:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:06:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:06:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:06:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:06:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:06:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:06:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:06:49 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.183[m] 14.158[deg] [grasp_sample.py: 539] +05/12 09:06:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:06:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:06:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:06:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:06:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:06:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.13s (batch: 4.05s, save: 9.07s) [pipeline.py: 300] +05/12 09:06:52 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.99s: + episode_total: mean=79.98s, total=159.95s, count=2, min=3308.2ms, max=156644.4ms + sensor_polling: mean=364.2ms, total=104.17s, count=286, min=300.0ms, max=664.2ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9074.6ms, max=9074.6ms + physics_step: mean=24.1ms, total=6.90s, count=286, min=14.6ms, max=119.6ms + save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4054.1ms, max=4054.1ms + task_sampling: mean=496.9ms, total=993.9ms, count=2, min=446.7ms, max=547.2ms + task_specific_sample: mean=493.4ms, total=986.8ms, count=2, min=442.1ms, max=544.7ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.0ms, max=3.2ms + mj_forward_sync: mean=500.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=10.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:06:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:06:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:06:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:06:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:06:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:06:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174887m [env.py: 870] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:06:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21831217 -0.99235653 -0.17488706] yaw=-46.6deg [env.py: 1019] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:06:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=262.8ms, total=262.8ms [env.py: 1075] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -0.992, -0.175) [env.py: 1079] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 09:06:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:06:53 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 09:06:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 09:06:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:06:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:06:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:06:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.527s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:06:55 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:06:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:06:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160691m [env.py: 870] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5941559 -0.78158159 -0.1606909 ] yaw=-73.2deg [env.py: 1019] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:06:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.4ms [env.py: 1075] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.782, -0.161) [env.py: 1079] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg [env.py: 1082] +05/12 09:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 09:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:06:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:06:57 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 09:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 09:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:06:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:06:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:07:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.038s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:07:08 INFO: [Worker 0] Feasible grasp found 152 (originally 152): w/ 0.742[m] 97.417[deg] [grasp_sample.py: 539] +05/12 09:07:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:07:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:07:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:07:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:20 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:07:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:07:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:07:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:07:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:07:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 342 non-colliding grasps [grasp_sample.py: 465] +05/12 09:07:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.629s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:07:31 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.119[m] 5.439[deg] [grasp_sample.py: 539] +05/12 09:07:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:07:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:07:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:07:33 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:07:40 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:07:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:07:40 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 09:07:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:07:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:07:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.52s (batch: 3.57s, save: 9.96s) [pipeline.py: 300] +05/12 09:07:54 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:07:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:07:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:07:55 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.66s: + episode_total: mean=52.19s, total=156.58s, count=3, min=489.4ms, max=155488.9ms + sensor_polling: mean=357.5ms, total=105.11s, count=294, min=309.9ms, max=596.8ms + save_trajectories: mean=9.96s, total=9.96s, count=1, min=9956.6ms, max=9956.6ms + physics_step: mean=21.5ms, total=6.31s, count=294, min=15.1ms, max=30.8ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3565.6ms, max=3565.6ms + task_specific_sample: mean=578.6ms, total=1.74s, count=3, min=484.4ms, max=656.1ms + task_sampling_failed: mean=544.5ms, total=1.09s, count=2, min=489.4ms, max=599.7ms + task_sampling: mean=658.3ms, total=658.3ms, count=1, min=658.3ms, max=658.3ms + scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=1.0ms, max=1.2ms + mj_forward_sync: mean=529.2us, total=1.6ms, count=3, min=0.4ms, max=0.8ms + policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:07:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:07:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:07:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:07:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:07:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135456m [env.py: 870] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=233.3ms, total=233.3ms [env.py: 1105] +05/12 09:07:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:07:56 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:07:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:07:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:07:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:07:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:07:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:07:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:07:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199526m [env.py: 870] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:07:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41039147 -0.83433534 -0.19952628] yaw=-51.5deg [env.py: 1019] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:07:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.6ms, total=184.7ms [env.py: 1075] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.410, -0.834, -0.200) [env.py: 1079] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/12 09:07:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:07:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:07:58 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 09:07:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 09:07:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:07:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:07:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:08:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.059s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:06 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.119[m] 7.951[deg] [grasp_sample.py: 539] +05/12 09:08:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:08:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:08:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:08:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:08:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.59s (batch: 3.66s, save: 9.93s) [pipeline.py: 300] +05/12 09:08:08 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=2.27s: + episode_total: mean=25.44s, total=178.09s, count=7, min=172.2ms, max=167000.2ms + sensor_polling: mean=355.1ms, total=106.53s, count=300, min=302.8ms, max=615.8ms + save_trajectories: mean=9.93s, total=9.93s, count=1, min=9931.2ms, max=9931.2ms + physics_step: mean=23.0ms, total=6.89s, count=300, min=15.0ms, max=37.7ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3656.1ms, max=3656.1ms + task_specific_sample: mean=415.0ms, total=2.91s, count=7, min=169.1ms, max=506.3ms + task_sampling: mean=454.6ms, total=2.27s, count=5, min=412.6ms, max=508.6ms + task_sampling_failed: mean=326.2ms, total=652.4ms, count=2, min=172.1ms, max=480.3ms + scene_randomize: mean=1.3ms, total=9.4ms, count=7, min=0.9ms, max=2.5ms + mj_forward_sync: mean=446.7us, total=3.1ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=12.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:08:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.747s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:09 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:08:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191125m [env.py: 870] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35093889 -1.10724089 -0.19112518] yaw=-38.7deg [env.py: 1019] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22655917 -1.06837289 -0.19112518] yaw=-47.4deg [env.py: 1019] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2847745 -1.16787074 -0.19112518] yaw=-41.6deg [env.py: 1019] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.5ms, total=253.5ms [env.py: 1075] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -1.107, -0.191) [env.py: 1079] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg [env.py: 1082] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160547m [env.py: 870] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:10 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.4ms, total=216.4ms [env.py: 1105] +05/12 09:08:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:08:10 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:08:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169811m [env.py: 870] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6221414 -0.86375728 -0.16981063] yaw=-73.6deg [env.py: 1019] +05/12 09:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms [env.py: 1075] +05/12 09:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.864, -0.170) [env.py: 1079] +05/12 09:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg [env.py: 1082] +05/12 09:08:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/12 09:08:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.523s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.607[m] 80.622[deg] [grasp_sample.py: 539] +05/12 09:08:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:12 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:13 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131857m [env.py: 870] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.274657 -1.15858807 -0.13185717] yaw=-51.6deg [env.py: 1019] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=208.4ms, total=208.4ms [env.py: 1075] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.159, -0.132) [env.py: 1079] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 09:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:15 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.307s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.684[m] 87.491[deg] [grasp_sample.py: 539] +05/12 09:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:08:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:08:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.457s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.712[m] 86.421[deg] [grasp_sample.py: 539] +05/12 09:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:17 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168575m [env.py: 870] +05/12 09:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29443757 -0.85050906 -0.16857461] yaw=-45.0deg [env.py: 1019] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47902026 -1.00033868 -0.16857461] yaw=-48.6deg [env.py: 1019] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.8ms, total=201.8ms [env.py: 1075] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -0.851, -0.169) [env.py: 1079] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg [env.py: 1082] +05/12 09:08:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 09:08:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:19 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.997s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:20 INFO: [Worker 0] Feasible grasp found 387 (originally 387): w/ 0.136[m] 7.374[deg] [grasp_sample.py: 539] +05/12 09:08:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.702s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:08:21 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:08:21 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134587m [env.py: 870] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28828086 -1.1549377 -0.13458664] yaw=-46.3deg [env.py: 1019] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.155, -0.135) [env.py: 1079] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160073m [env.py: 870] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44227892 -1.00080336 -0.16007323] yaw=-56.1deg [env.py: 1019] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:22 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=242.4ms, total=242.4ms [env.py: 1075] +05/12 09:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.001, -0.160) [env.py: 1079] +05/12 09:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/12 09:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 09:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:23 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.544s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.687[m] 93.778[deg] [grasp_sample.py: 539] +05/12 09:08:25 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169881m [env.py: 870] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55636204 -1.00081028 -0.16988054] yaw=-71.0deg [env.py: 1019] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35233664 -0.91885599 -0.16988054] yaw=-47.0deg [env.py: 1019] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.668s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:27 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.676[m] 88.789[deg] [grasp_sample.py: 539] +05/12 09:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.9ms [env.py: 1075] +05/12 09:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -1.001, -0.170) [env.py: 1079] +05/12 09:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.0 deg [env.py: 1082] +05/12 09:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 09:08:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:27 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:28 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.366s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.597[m] 92.441[deg] [grasp_sample.py: 539] +05/12 09:08:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:08:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:08:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160752m [env.py: 870] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=294.7ms, total=294.7ms [env.py: 1105] +05/12 09:08:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:08:29 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:08:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104786m [env.py: 870] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62190258 -0.79731932 -0.1047858 ] yaw=-66.3deg [env.py: 1019] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41826647 -0.86143861 -0.1047858 ] yaw=-62.7deg [env.py: 1019] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=222.4ms, total=222.4ms [env.py: 1075] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.797, -0.105) [env.py: 1079] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 09:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:31 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.732s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:45 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.780[m] 99.342[deg] [grasp_sample.py: 539] +05/12 09:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:08:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:08:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:46 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120785m [env.py: 870] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42000823 -0.98773154 -0.12078526] yaw=-44.1deg [env.py: 1019] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33058165 -1.0191214 -0.12078526] yaw=-55.2deg [env.py: 1019] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.9ms, total=281.9ms [env.py: 1075] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.988, -0.121) [env.py: 1079] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/12 09:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:48 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.447s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:50 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.529[m] 58.515[deg] [grasp_sample.py: 539] +05/12 09:08:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.713s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.724[m] 88.123[deg] [grasp_sample.py: 539] +05/12 09:08:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:08:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:08:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:51 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134452m [env.py: 870] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40771824 -0.96043613 -0.13445231] yaw=-50.7deg [env.py: 1019] +05/12 09:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:08:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms [env.py: 1075] +05/12 09:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -0.960, -0.134) [env.py: 1079] +05/12 09:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 09:08:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 09:08:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:08:53 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 09:08:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:08:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:08:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:08:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:08:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:08:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:08:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:08:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.887s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.720[m] 83.974[deg] [grasp_sample.py: 539] +05/12 09:08:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.979s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:08:56 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.434[m] 61.453[deg] [grasp_sample.py: 539] +05/12 09:08:56 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:57 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138567m [env.py: 870] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=197.7ms, total=197.8ms [env.py: 1105] +05/12 09:08:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:08:57 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:08:58 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:08:58 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:08:58 INFO: [Worker 0] Worker 0 completed house 1: 11/16 successful episodes [pipeline.py: 1323] +05/12 09:08:58 INFO: [Worker 0] [PROFILE] House 1 complete: 11/16 successful, 16 episodes, total_time=4294.64s + House averages: + episode_total: mean=34.34s, total=2472.54s, count=72, min=172.2ms, max=167000.2ms + sensor_polling: mean=354.0ms, total=1513.71s, count=4276, min=289.9ms, max=893.9ms + save_trajectories: mean=9.51s, total=104.66s, count=11, min=8500.8ms, max=12451.2ms + physics_step: mean=22.7ms, total=97.27s, count=4276, min=13.1ms, max=86.6ms + save_batch_prep: mean=3.55s, total=39.03s, count=11, min=3144.4ms, max=4310.6ms + task_specific_sample: mean=408.8ms, total=29.44s, count=72, min=169.1ms, max=1198.9ms + task_sampling: mean=491.8ms, total=21.64s, count=44, min=326.2ms, max=1203.4ms + task_sampling_failed: mean=373.7ms, total=10.46s, count=28, min=172.1ms, max=2662.2ms + scene_load: mean=2.44s, total=2.44s, count=1, min=2435.9ms, max=2435.9ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1483.1ms, max=1483.1ms + scene_compile: mean=812.3ms, total=812.3ms, count=1, min=812.3ms, max=812.3ms + compile_mujoco: mean=527.3ms, total=527.3ms, count=1, min=527.3ms, max=527.3ms + compile_xml_load: mean=214.9ms, total=214.9ms, count=1, min=214.9ms, max=214.9ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + scene_randomize: mean=1.3ms, total=95.0ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms + mj_forward_sync: mean=423.8us, total=30.5ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.0us, total=0.6ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:08:58 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:08:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=4294.64s + Worker averages: + episode_total: mean=34.34s, total=2472.54s, count=72, min=172.2ms, max=167000.2ms + sensor_polling: mean=354.0ms, total=1513.71s, count=4276, min=289.9ms, max=893.9ms + save_trajectories: mean=9.51s, total=104.66s, count=11, min=8500.8ms, max=12451.2ms + physics_step: mean=22.7ms, total=97.27s, count=4276, min=13.1ms, max=86.6ms + save_batch_prep: mean=3.55s, total=39.03s, count=11, min=3144.4ms, max=4310.6ms + task_specific_sample: mean=408.8ms, total=29.44s, count=72, min=169.1ms, max=1198.9ms + task_sampling: mean=491.8ms, total=21.64s, count=44, min=326.2ms, max=1203.4ms + task_sampling_failed: mean=373.7ms, total=10.46s, count=28, min=172.1ms, max=2662.2ms + scene_load: mean=2.44s, total=2.44s, count=1, min=2435.9ms, max=2435.9ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1483.1ms, max=1483.1ms + scene_compile: mean=812.3ms, total=812.3ms, count=1, min=812.3ms, max=812.3ms + compile_mujoco: mean=527.3ms, total=527.3ms, count=1, min=527.3ms, max=527.3ms + compile_xml_load: mean=214.9ms, total=214.9ms, count=1, min=214.9ms, max=214.9ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + scene_randomize: mean=1.3ms, total=95.0ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + compile_aux_policy_objects: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms + scene_asset_install: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms + mj_forward_sync: mean=423.8us, total=30.5ms, count=72, min=0.4ms, max=0.7ms + asset_install_grasps: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.0us, total=0.6ms, count=44, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:08:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:08:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:08:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:08:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:08:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:08:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:08:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:08:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:08:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:08:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169094m [env.py: 870] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:08:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:08:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1105] +05/12 09:08:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:08:59 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:09:00 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:09:00 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:09:00 INFO: [Worker 0] Worker 0 completed house 1: 9/14 successful episodes [pipeline.py: 1323] +05/12 09:09:00 INFO: [Worker 0] [PROFILE] House 1 complete: 9/14 successful, 14 episodes, total_time=4356.85s + House averages: + episode_total: mean=34.36s, total=2473.66s, count=72, min=201.9ms, max=177360.8ms + sensor_polling: mean=372.3ms, total=1602.30s, count=4304, min=302.4ms, max=716.1ms + physics_step: mean=22.4ms, total=96.53s, count=4304, min=13.0ms, max=105.5ms + save_trajectories: mean=9.75s, total=87.74s, count=9, min=8541.4ms, max=11461.9ms + save_batch_prep: mean=3.50s, total=31.52s, count=9, min=3223.1ms, max=3971.1ms + task_specific_sample: mean=378.1ms, total=27.23s, count=72, min=198.7ms, max=731.4ms + task_sampling: mean=549.3ms, total=20.88s, count=38, min=350.2ms, max=3416.8ms + task_sampling_failed: mean=282.6ms, total=9.61s, count=34, min=201.9ms, max=745.9ms + scene_load: mean=3.01s, total=3.01s, count=1, min=3009.8ms, max=3009.8ms + scene_env_create: mean=1.68s, total=1.68s, count=1, min=1679.4ms, max=1679.4ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.9ms, max=1152.9ms + compile_mujoco: mean=547.8ms, total=547.8ms, count=1, min=547.8ms, max=547.8ms + compile_xml_load: mean=526.6ms, total=526.6ms, count=1, min=526.6ms, max=526.6ms + scene_init: mean=132.3ms, total=132.3ms, count=1, min=132.3ms, max=132.3ms + scene_randomize: mean=1.3ms, total=95.9ms, count=72, min=0.9ms, max=6.3ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + scene_asset_install: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + mj_forward_sync: mean=460.3us, total=33.1ms, count=72, min=0.4ms, max=0.9ms + asset_install_grasps: mean=30.5ms, total=30.5ms, count=1, min=30.5ms, max=30.5ms + compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=14.3us, total=0.5ms, count=38, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:09:00 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:09:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4356.85s + Worker averages: + episode_total: mean=34.36s, total=2473.66s, count=72, min=201.9ms, max=177360.8ms + sensor_polling: mean=372.3ms, total=1602.30s, count=4304, min=302.4ms, max=716.1ms + physics_step: mean=22.4ms, total=96.53s, count=4304, min=13.0ms, max=105.5ms + save_trajectories: mean=9.75s, total=87.74s, count=9, min=8541.4ms, max=11461.9ms + save_batch_prep: mean=3.50s, total=31.52s, count=9, min=3223.1ms, max=3971.1ms + task_specific_sample: mean=378.1ms, total=27.23s, count=72, min=198.7ms, max=731.4ms + task_sampling: mean=549.3ms, total=20.88s, count=38, min=350.2ms, max=3416.8ms + task_sampling_failed: mean=282.6ms, total=9.61s, count=34, min=201.9ms, max=745.9ms + scene_load: mean=3.01s, total=3.01s, count=1, min=3009.8ms, max=3009.8ms + scene_env_create: mean=1.68s, total=1.68s, count=1, min=1679.4ms, max=1679.4ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.9ms, max=1152.9ms + compile_mujoco: mean=547.8ms, total=547.8ms, count=1, min=547.8ms, max=547.8ms + compile_xml_load: mean=526.6ms, total=526.6ms, count=1, min=526.6ms, max=526.6ms + scene_init: mean=132.3ms, total=132.3ms, count=1, min=132.3ms, max=132.3ms + scene_randomize: mean=1.3ms, total=95.9ms, count=72, min=0.9ms, max=6.3ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + scene_asset_install: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + mj_forward_sync: mean=460.3us, total=33.1ms, count=72, min=0.4ms, max=0.9ms + asset_install_grasps: mean=30.5ms, total=30.5ms, count=1, min=30.5ms, max=30.5ms + compile_robot_add: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + policy_setup: mean=14.3us, total=0.5ms, count=38, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:09:01 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:09:01 INFO: Success count: 11, Total count: 16 [pipeline.py: 1491] +05/12 09:09:01 INFO: Success rate: 68.75% [pipeline.py: 1492] +05/12 09:09:02 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:09:02 INFO: Success count: 9, Total count: 14 [pipeline.py: 1491] +05/12 09:09:02 INFO: Success rate: 64.29% [pipeline.py: 1492] +05/12 09:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:09:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:09:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:09:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:09:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:09:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:09:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:09:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:09:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:09:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.363s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:09:53 INFO: [Worker 0] Feasible grasp found 384 (originally 384): w/ 0.176[m] 19.547[deg] [grasp_sample.py: 539] +05/12 09:09:54 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:09:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:09:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:09:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:09:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:09:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:09:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:09:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125223m [env.py: 870] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:09:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3946824 -0.87704864 -0.12522317] yaw=-46.3deg [env.py: 1019] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=364.1ms, total=364.1ms [env.py: 1075] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -0.877, -0.125) [env.py: 1079] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/12 09:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:09:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:09:56 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 09:09:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 09:09:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:09:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:09:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:10:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.384s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:10:02 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:10:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:10:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:10:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:10:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:10:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:10:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110890m [env.py: 870] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:10:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=160.5ms, total=160.6ms [env.py: 1105] +05/12 09:10:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:10:03 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:10:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:10:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:10:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114756m [env.py: 870] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60940121 -0.98640482 -0.11475583] yaw=-69.2deg [env.py: 1019] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.1ms [env.py: 1075] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.986, -0.115) [env.py: 1079] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg [env.py: 1082] +05/12 09:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:10:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:10:05 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 09:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:10:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:10:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:10:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.368s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:10:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.662[m] 85.097[deg] [grasp_sample.py: 539] +05/12 09:10:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:10:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:10:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:10:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:10:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:10:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:10:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:10:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.631s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:10:39 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.537[m] 59.196[deg] [grasp_sample.py: 539] +05/12 09:10:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:10:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:10:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:10:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:10:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:10:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:10:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:10:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:11:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:11:03 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.503[m] 60.249[deg] [grasp_sample.py: 539] +05/12 09:11:04 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:11:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:11:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:11:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:11:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:11:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:11:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:11:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184178m [env.py: 870] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:11:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34742075 -1.05110607 -0.18417765] yaw=-53.1deg [env.py: 1019] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:11:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=153.9ms, total=153.9ms [env.py: 1075] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.051, -0.184) [env.py: 1079] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 09:11:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:11:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:11:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:11:05 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 09:11:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:11:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:11:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:11:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:11:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.235s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:11:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.636[m] 82.188[deg] [grasp_sample.py: 539] +05/12 09:11:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:11:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:11:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:11:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:11:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:11:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:11:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:12:36 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:12:55 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 09:12:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:12:55 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 09:13:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:13:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 09:13:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.23s (batch: 3.24s, save: 8.00s) [pipeline.py: 300] +05/12 09:13:07 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=3.69s: + episode_total: mean=36.25s, total=362.52s, count=10, min=169.3ms, max=122220.9ms + sensor_polling: mean=311.4ms, total=193.09s, count=620, min=284.6ms, max=545.6ms + physics_step: mean=19.9ms, total=12.36s, count=620, min=12.6ms, max=32.8ms + save_trajectories: mean=8.00s, total=8.00s, count=1, min=7996.7ms, max=7996.7ms + task_specific_sample: mean=413.3ms, total=4.13s, count=10, min=165.2ms, max=580.1ms + task_sampling: mean=461.2ms, total=3.69s, count=8, min=334.5ms, max=582.9ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3235.4ms, max=3235.4ms + task_sampling_failed: mean=237.3ms, total=474.6ms, count=2, min=169.3ms, max=305.3ms + scene_randomize: mean=1.3ms, total=13.3ms, count=10, min=0.9ms, max=2.4ms + mj_forward_sync: mean=453.0us, total=4.5ms, count=10, min=0.4ms, max=0.8ms + policy_setup: mean=11.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:13:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:13:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146227m [env.py: 870] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.0ms, total=171.1ms [env.py: 1105] +05/12 09:13:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:13:08 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:13:10 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:13:10 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/12 09:13:10 INFO: [Worker 0] Worker 0 completed house 1: 14/17 successful episodes [pipeline.py: 1323] +05/12 09:13:10 INFO: [Worker 0] [PROFILE] House 1 complete: 14/17 successful, 17 episodes, total_time=4694.99s + House averages: + episode_total: mean=37.77s, total=2719.11s, count=72, min=169.3ms, max=164158.8ms + sensor_polling: mean=354.3ms, total=1623.18s, count=4582, min=284.6ms, max=828.4ms + save_trajectories: mean=9.21s, total=128.96s, count=14, min=7996.7ms, max=11234.6ms + physics_step: mean=22.8ms, total=104.53s, count=4582, min=12.6ms, max=119.6ms + save_batch_prep: mean=3.52s, total=49.23s, count=14, min=3198.4ms, max=4054.1ms + task_specific_sample: mean=424.3ms, total=30.55s, count=72, min=165.2ms, max=1078.5ms + task_sampling: mean=569.1ms, total=23.90s, count=42, min=326.3ms, max=2975.2ms + task_sampling_failed: mean=313.0ms, total=9.39s, count=30, min=169.3ms, max=603.0ms + scene_load: mean=2.50s, total=2.50s, count=1, min=2497.1ms, max=2497.1ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1484.9ms, max=1484.9ms + scene_compile: mean=868.7ms, total=868.7ms, count=1, min=868.7ms, max=868.7ms + compile_mujoco: mean=541.3ms, total=541.3ms, count=1, min=541.3ms, max=541.3ms + compile_xml_load: mean=217.7ms, total=217.7ms, count=1, min=217.7ms, max=217.7ms + scene_randomize: mean=1.4ms, total=99.1ms, count=72, min=0.9ms, max=3.2ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=91.6ms, total=91.6ms, count=1, min=91.6ms, max=91.6ms + compile_aux_policy_objects: mean=91.6ms, total=91.6ms, count=1, min=91.6ms, max=91.6ms + scene_asset_install: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + asset_install_grasps: mean=32.7ms, total=32.7ms, count=1, min=32.7ms, max=32.7ms + mj_forward_sync: mean=452.4us, total=32.6ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + compile_robot_add: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=13.6us, total=0.6ms, count=42, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:13:10 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:13:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=4694.99s + Worker averages: + episode_total: mean=37.77s, total=2719.11s, count=72, min=169.3ms, max=164158.8ms + sensor_polling: mean=354.3ms, total=1623.18s, count=4582, min=284.6ms, max=828.4ms + save_trajectories: mean=9.21s, total=128.96s, count=14, min=7996.7ms, max=11234.6ms + physics_step: mean=22.8ms, total=104.53s, count=4582, min=12.6ms, max=119.6ms + save_batch_prep: mean=3.52s, total=49.23s, count=14, min=3198.4ms, max=4054.1ms + task_specific_sample: mean=424.3ms, total=30.55s, count=72, min=165.2ms, max=1078.5ms + task_sampling: mean=569.1ms, total=23.90s, count=42, min=326.3ms, max=2975.2ms + task_sampling_failed: mean=313.0ms, total=9.39s, count=30, min=169.3ms, max=603.0ms + scene_load: mean=2.50s, total=2.50s, count=1, min=2497.1ms, max=2497.1ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1484.9ms, max=1484.9ms + scene_compile: mean=868.7ms, total=868.7ms, count=1, min=868.7ms, max=868.7ms + compile_mujoco: mean=541.3ms, total=541.3ms, count=1, min=541.3ms, max=541.3ms + compile_xml_load: mean=217.7ms, total=217.7ms, count=1, min=217.7ms, max=217.7ms + scene_randomize: mean=1.4ms, total=99.1ms, count=72, min=0.9ms, max=3.2ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=91.6ms, total=91.6ms, count=1, min=91.6ms, max=91.6ms + compile_aux_policy_objects: mean=91.6ms, total=91.6ms, count=1, min=91.6ms, max=91.6ms + scene_asset_install: mean=46.6ms, total=46.6ms, count=1, min=46.6ms, max=46.6ms + asset_install_grasps: mean=32.7ms, total=32.7ms, count=1, min=32.7ms, max=32.7ms + mj_forward_sync: mean=452.4us, total=32.6ms, count=72, min=0.4ms, max=0.8ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + compile_robot_add: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=13.6us, total=0.6ms, count=42, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:13:12 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:13:12 INFO: Success count: 14, Total count: 17 [pipeline.py: 1491] +05/12 09:13:12 INFO: Success rate: 82.35% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_015/experiment_config_20260512_091441.pkl b/3drawers/sim_chunks/chunk_015/experiment_config_20260512_091441.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3595507af414342c27c4ac65d32fb854894cf0a1 --- /dev/null +++ b/3drawers/sim_chunks/chunk_015/experiment_config_20260512_091441.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:345016ea2b477e027698d62d2205e7753b37aaef87052e67e538184cfc7f912f +size 8146 diff --git 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a/3drawers/sim_chunks/chunk_015/experiment_config_20260512_091446.pkl b/3drawers/sim_chunks/chunk_015/experiment_config_20260512_091446.pkl new file mode 100644 index 0000000000000000000000000000000000000000..bbe42670472dca783d278ab7488a0d3a4f243fa3 --- /dev/null +++ b/3drawers/sim_chunks/chunk_015/experiment_config_20260512_091446.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:175fa9860ee03af9137c52100ee8def903a0a1a02d0d8332d682153c1deb278e +size 8146 diff --git a/3drawers/sim_chunks/chunk_015/running_log.log b/3drawers/sim_chunks/chunk_015/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..4ff795d0f75535bacb471b3b87507922a76d8860 --- /dev/null +++ b/3drawers/sim_chunks/chunk_015/running_log.log @@ -0,0 +1,14620 @@ +05/12 09:14:41 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:14:41 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:14:41 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:14:41 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41501, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 09:14:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 09:14:41 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:14:41 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:14:42 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:14:44 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:14:44 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:14:44 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:14:44 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:14:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193002m [env.py: 870] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:44 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66073793 -0.97469979 -0.1930023 ] yaw=-58.0deg [env.py: 1019] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:14:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.3ms, retries=261.0ms, total=277.3ms [env.py: 1075] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.661, -0.975, -0.193) [env.py: 1079] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 09:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:44 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:14:44 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:14:44 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:14:44 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41503, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 09:14:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 09:14:44 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:14:44 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:14:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:14:45 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 09:14:45 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:14:45 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:14:45 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:14:45 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:14:45 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41504, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 09:14:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 09:14:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:14:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:14:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:14:46 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 09:14:46 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 09:14:46 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 09:14:46 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41502, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 09:14:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 09:14:46 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 09:14:46 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 09:14:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 09:14:47 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:14:47 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:14:47 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:14:47 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:14:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196123m [env.py: 870] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:47 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26297654 -1.05676096 -0.1961226 ] yaw=-43.1deg [env.py: 1019] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59478226 -0.97713226 -0.1961226 ] yaw=-73.0deg [env.py: 1019] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43825176 -0.86778293 -0.1961226 ] yaw=-53.3deg [env.py: 1019] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:14:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=17.0ms, retries=178.2ms, total=195.3ms [env.py: 1075] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -1.057, -0.196) [env.py: 1079] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.1 deg [env.py: 1082] +05/12 09:14:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:48 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:14:48 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:14:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:14:48 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 09:14:48 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:14:48 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:14:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156699m [env.py: 870] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:48 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.3ms, retries=181.7ms, total=198.0ms [env.py: 1105] +05/12 09:14:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:14:48 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:14:48 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 09:14:48 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 09:14:48 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 09:14:48 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 09:14:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160156m [env.py: 870] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:48 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.5ms, retries=216.5ms, total=233.0ms [env.py: 1105] +05/12 09:14:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:14:48 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:14:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:14:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180638m [env.py: 870] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.9ms, total=194.9ms [env.py: 1105] +05/12 09:14:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:14:49 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:14:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:14:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123308m [env.py: 870] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20409417 -1.15984758 -0.12330784] yaw=-30.7deg [env.py: 1019] +05/12 09:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64815996 -0.91387264 -0.12330784] yaw=-73.9deg [env.py: 1019] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:14:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms [env.py: 1075] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.204, -1.160, -0.123) [env.py: 1079] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.7 deg [env.py: 1082] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:14:50 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 09:14:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:14:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182632m [env.py: 870] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1105] +05/12 09:14:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:14:50 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:14:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:14:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:14:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:14:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:14:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:14:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193374m [env.py: 870] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:14:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32923372 -1.15146334 -0.19337449] yaw=-33.5deg [env.py: 1019] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23002137 -0.91241476 -0.19337449] yaw=-48.9deg [env.py: 1019] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:14:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=178.1ms, total=178.2ms [env.py: 1075] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.151, -0.193) [env.py: 1079] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.5 deg [env.py: 1082] +05/12 09:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:14:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:14:51 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 09:15:14 INFO: [Worker 0] Warmed up parallel IK solver in 29.151s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.263s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:17 INFO: [Worker 0] Warmed up parallel IK solver in 29.092s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:18 INFO: [Worker 0] Warmed up parallel IK solver in 28.274s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.239s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.734[m] 81.390[deg] [grasp_sample.py: 539] +05/12 09:15:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.340s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:19 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.636[m] 93.446[deg] [grasp_sample.py: 539] +05/12 09:15:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:15:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:15:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.729s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:21 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.703[m] 87.489[deg] [grasp_sample.py: 539] +05/12 09:15:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:22 INFO: [Worker 0] Warmed up parallel IK solver in 30.224s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.225s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.606[m] 82.724[deg] [grasp_sample.py: 539] +05/12 09:15:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:15:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:15:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:15:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:15:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:15:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:15:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.128s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:15:51 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.482[m] 63.836[deg] [grasp_sample.py: 539] +05/12 09:15:52 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:15:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:15:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:15:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:15:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184374m [env.py: 870] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15415695 -1.05270935 -0.18437367] yaw=-37.5deg [env.py: 1019] +05/12 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.8ms [env.py: 1075] +05/12 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -1.053, -0.184) [env.py: 1079] +05/12 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:15:54 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 09:15:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.366s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:15:55 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:15:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:15:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:15:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:15:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:15:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:15:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140483m [env.py: 870] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:15:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37505103 -0.7948185 -0.14048265] yaw=-47.8deg [env.py: 1019] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47962737 -0.86957671 -0.14048265] yaw=-62.4deg [env.py: 1019] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:15:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=327.3ms, total=327.3ms [env.py: 1075] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -0.795, -0.140) [env.py: 1079] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.8 deg [env.py: 1082] +05/12 09:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:15:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:15:57 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 09:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:15:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:15:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:15:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.023s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:15:59 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:16:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:16:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:16:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:16:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:16:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:16:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133206m [env.py: 870] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:16:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.3ms, total=225.4ms [env.py: 1105] +05/12 09:16:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:16:01 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:16:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:16:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:16:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:16:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:16:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:16:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146418m [env.py: 870] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:16:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09189626 -1.06829453 -0.1464178 ] yaw=-27.9deg [env.py: 1019] +05/12 09:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:16:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.2ms, total=209.3ms [env.py: 1075] +05/12 09:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.092, -1.068, -0.146) [env.py: 1079] +05/12 09:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.9 deg [env.py: 1082] +05/12 09:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 09:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:16:03 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 09:16:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:16:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:16:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:16:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:16:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:16:04 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:16:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:16:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:16:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:16:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:16:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:16:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:16:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174765m [env.py: 870] +05/12 09:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:16:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48599747 -0.96030017 -0.17476506] yaw=-62.3deg [env.py: 1019] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48136559 -1.00861864 -0.17476506] yaw=-54.6deg [env.py: 1019] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58594623 -0.83414348 -0.17476506] yaw=-75.3deg [env.py: 1019] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:16:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=294.5ms, total=294.6ms [env.py: 1075] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.960, -0.175) [env.py: 1079] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/12 09:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 09:16:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:16:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:16:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:16:06 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 09:16:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 09:16:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:16:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:16:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:16:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.550s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:16:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.674[m] 79.768[deg] [grasp_sample.py: 539] +05/12 09:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:16:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:16:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:16:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:16:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:16:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:16:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:16:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:00 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:17:05 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:17:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:17:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:17:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:17:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:17:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:17:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.178s, found 347 non-colliding grasps [grasp_sample.py: 465] +05/12 09:17:20 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:17:20 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 09:17:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.409s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:17:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.039[m] 1.407[deg] [grasp_sample.py: 539] +05/12 09:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:17:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:17:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:17:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:17:23 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/12 09:17:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:25 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:17:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:17:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:17:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:17:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.79s (batch: 3.63s, save: 9.16s) [pipeline.py: 300] +05/12 09:17:34 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s: + episode_total: mean=83.54s, total=167.07s, count=2, min=2548.2ms, max=164523.4ms + sensor_polling: mean=325.7ms, total=90.87s, count=279, min=304.5ms, max=522.2ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9160.5ms, max=9160.5ms + physics_step: mean=21.5ms, total=5.99s, count=279, min=15.2ms, max=28.2ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3629.7ms, max=3629.7ms + task_sampling_failed: mean=2.55s, total=2.55s, count=1, min=2548.2ms, max=2548.2ms + scene_load: mean=2.31s, total=2.31s, count=1, min=2307.0ms, max=2307.0ms + scene_env_create: mean=1.40s, total=1.40s, count=1, min=1400.1ms, max=1400.1ms + scene_compile: mean=766.7ms, total=766.7ms, count=1, min=766.7ms, max=766.7ms + task_specific_sample: mean=344.8ms, total=689.6ms, count=2, min=238.0ms, max=451.6ms + compile_mujoco: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms + task_sampling: mean=453.7ms, total=453.7ms, count=1, min=453.7ms, max=453.7ms + compile_xml_load: mean=216.9ms, total=216.9ms, count=1, min=216.9ms, max=216.9ms + scene_init: mean=95.6ms, total=95.6ms, count=1, min=95.6ms, max=95.6ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + scene_randomize: mean=962.3us, total=1.9ms, count=2, min=0.9ms, max=1.0ms + mj_forward_sync: mean=420.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:17:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:17:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:17:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:17:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:17:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:17:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:17:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122378m [env.py: 870] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:17:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:17:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:17:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.24s (batch: 3.46s, save: 8.78s) [pipeline.py: 300] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39579367 -0.95218785 -0.12237811] yaw=-43.6deg [env.py: 1019] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32937943 -1.08754005 -0.12237811] yaw=-53.1deg [env.py: 1019] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:17:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=383.3ms, total=383.4ms [env.py: 1075] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -0.952, -0.122) [env.py: 1079] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg [env.py: 1082] +05/12 09:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 09:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:17:36 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 09:17:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:17:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:17:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:17:36 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s: + episode_total: mean=42.00s, total=168.00s, count=4, min=202.0ms, max=164989.9ms + sensor_polling: mean=364.4ms, total=93.65s, count=257, min=322.2ms, max=579.1ms + save_trajectories: mean=8.78s, total=8.78s, count=1, min=8782.6ms, max=8782.6ms + physics_step: mean=21.7ms, total=5.57s, count=257, min=15.2ms, max=36.6ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3461.6ms, max=3461.6ms + task_sampling_failed: mean=1.00s, total=3.01s, count=3, min=202.0ms, max=2601.3ms + scene_load: mean=2.40s, total=2.40s, count=1, min=2395.3ms, max=2395.3ms + scene_env_create: mean=1.50s, total=1.50s, count=1, min=1497.8ms, max=1497.8ms + task_specific_sample: mean=257.7ms, total=1.03s, count=4, min=199.1ms, max=429.1ms + scene_compile: mean=756.6ms, total=756.6ms, count=1, min=756.6ms, max=756.6ms + compile_mujoco: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms + task_sampling: mean=431.2ms, total=431.2ms, count=1, min=431.2ms, max=431.2ms + compile_xml_load: mean=214.9ms, total=214.9ms, count=1, min=214.9ms, max=214.9ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms + compile_aux_policy_objects: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + asset_install_grasps: mean=30.4ms, total=30.4ms, count=1, min=30.4ms, max=30.4ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + compile_robot_add: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms + scene_randomize: mean=959.9us, total=3.8ms, count=4, min=0.9ms, max=1.0ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=406.0us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:17:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:17:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:17:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:17:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134361m [env.py: 870] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33905871 -1.03863065 -0.1343613 ] yaw=-55.2deg [env.py: 1019] +05/12 09:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45886408 -1.07888515 -0.1343613 ] yaw=-49.9deg [env.py: 1019] +05/12 09:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:17:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms [env.py: 1075] +05/12 09:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -1.039, -0.134) [env.py: 1079] +05/12 09:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 09:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 09:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:17:38 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 09:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 09:17:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:17:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:17:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:17:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.792s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:17:42 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.753[m] 90.917[deg] [grasp_sample.py: 539] +05/12 09:17:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.143s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:17:42 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.784[m] 90.059[deg] [grasp_sample.py: 539] +05/12 09:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:17:43 INFO: [Worker 0] Object is not in grasp! 0.00127 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:17:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:17:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:17:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:17:43 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:17:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:17:43 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 09:17:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 351 non-colliding grasps [grasp_sample.py: 465] +05/12 09:17:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:17:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:43 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:17:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:17:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:17:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:17:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:17:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:17:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196089m [env.py: 870] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:17:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25730893 -0.97170906 -0.19608941] yaw=-50.7deg [env.py: 1019] +05/12 09:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:17:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.941s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:17:45 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.125[m] 4.348[deg] [grasp_sample.py: 539] +05/12 09:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:17:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.2ms, total=351.2ms [env.py: 1075] +05/12 09:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -0.972, -0.196) [env.py: 1079] +05/12 09:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 09:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 09:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:17:45 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 09:17:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:17:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:17:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:17:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:17:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:17:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:17:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:17:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:17:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:17:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:17:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.042s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:17:55 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.718[m] 94.044[deg] [grasp_sample.py: 539] +05/12 09:17:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:17:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:17:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:17:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.85s (batch: 3.36s, save: 9.49s) [pipeline.py: 300] +05/12 09:17:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:17:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:17:56 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.07s: + episode_total: mean=191.64s, total=191.64s, count=1, min=191636.6ms, max=191636.6ms + sensor_polling: mean=410.2ms, total=115.27s, count=281, min=302.2ms, max=623.8ms + save_trajectories: mean=9.49s, total=9.49s, count=1, min=9490.6ms, max=9490.6ms + physics_step: mean=26.6ms, total=7.48s, count=281, min=16.0ms, max=62.5ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3364.0ms, max=3364.0ms + task_sampling: mean=3.07s, total=3.07s, count=1, min=3065.0ms, max=3065.0ms + scene_load: mean=2.59s, total=2.59s, count=1, min=2591.3ms, max=2591.3ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1568.8ms, max=1568.8ms + scene_compile: mean=873.3ms, total=873.3ms, count=1, min=873.3ms, max=873.3ms + compile_mujoco: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms + task_specific_sample: mean=471.5ms, total=471.5ms, count=1, min=471.5ms, max=471.5ms + compile_xml_load: mean=215.1ms, total=215.1ms, count=1, min=215.1ms, max=215.1ms + scene_init: mean=99.8ms, total=99.8ms, count=1, min=99.8ms, max=99.8ms + compile_aux_objects: mean=50.8ms, total=50.8ms, count=1, min=50.8ms, max=50.8ms + compile_aux_policy_objects: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms + scene_asset_install: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + scene_randomize: mean=896.8us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=376.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=28.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:17:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.530s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:17:57 INFO: [Worker 0] Feasible grasp found 455 (originally 455): w/ 0.178[m] 23.821[deg] [grasp_sample.py: 539] +05/12 09:17:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:17:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:17:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:17:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:17:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:17:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:17:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123291m [env.py: 870] +05/12 09:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:17:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:17:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:17:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19834078 -1.03485662 -0.12329064] yaw=-43.4deg [env.py: 1019] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=397.3ms, total=397.3ms [env.py: 1075] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.035, -0.123) [env.py: 1079] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg [env.py: 1082] +05/12 09:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/12 09:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:17:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:17:58 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 09:17:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 09:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:17:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:17:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:17:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:17:59 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:17:59 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=5.82s: + episode_total: mean=31.86s, total=191.18s, count=6, min=233.0ms, max=113048.7ms + sensor_polling: mean=333.8ms, total=103.47s, count=310, min=305.7ms, max=539.6ms + physics_step: mean=21.6ms, total=6.68s, count=310, min=14.8ms, max=33.2ms + task_sampling: mean=1.16s, total=5.82s, count=5, min=414.4ms, max=3727.5ms + scene_load: mean=3.23s, total=3.23s, count=1, min=3226.0ms, max=3226.0ms + task_specific_sample: mean=468.8ms, total=2.81s, count=6, min=230.1ms, max=606.1ms + scene_compile: mean=1.58s, total=1.58s, count=1, min=1577.2ms, max=1577.2ms + scene_env_create: mean=1.49s, total=1.49s, count=1, min=1487.2ms, max=1487.2ms + compile_xml_load: mean=927.4ms, total=927.4ms, count=1, min=927.4ms, max=927.4ms + compile_mujoco: mean=564.4ms, total=564.4ms, count=1, min=564.4ms, max=564.4ms + task_sampling_failed: mean=232.9ms, total=232.9ms, count=1, min=232.9ms, max=232.9ms + scene_init: mean=98.2ms, total=98.2ms, count=1, min=98.2ms, max=98.2ms + scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms + compile_aux_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + compile_robot_add: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + scene_randomize: mean=1.0ms, total=6.0ms, count=6, min=0.9ms, max=1.1ms + mj_forward_sync: mean=387.0us, total=2.3ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:18:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.318s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:18:00 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:18:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:18:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:18:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:18:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:18:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:18:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193310m [env.py: 870] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:18:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53548139 -0.77650748 -0.19330955] yaw=-55.5deg [env.py: 1019] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=267.0ms, total=267.0ms [env.py: 1075] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -0.777, -0.193) [env.py: 1079] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/12 09:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:18:01 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 09:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:18:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:18:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:18:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:18:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:18:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:18:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:18:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:18:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138519m [env.py: 870] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:18:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.555941 -0.76412658 -0.13851902] yaw=-62.0deg [env.py: 1019] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.7ms, total=209.7ms [env.py: 1075] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.764, -0.139) [env.py: 1079] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 09:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:18:01 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 09:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:18:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:18:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.381s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:18:03 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.683s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:18:03 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.762[m] 77.594[deg] [grasp_sample.py: 539] +05/12 09:18:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:18:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:18:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:18:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:18:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:18:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:18:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136473m [env.py: 870] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08927722 -1.07168328 -0.13647349] yaw=-27.9deg [env.py: 1019] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61677938 -0.91332002 -0.13647349] yaw=-76.2deg [env.py: 1019] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.089, -1.072, -0.136) [env.py: 1079] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.9 deg [env.py: 1082] +05/12 09:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:18:05 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 09:18:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:18:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:18:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:18:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.537s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:18:06 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:18:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:18:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:18:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:18:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:18:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:18:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163541m [env.py: 870] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:18:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1105] +05/12 09:18:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:18:08 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:18:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:18:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:18:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:18:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:18:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166338m [env.py: 870] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:18:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27202479 -1.21239318 -0.16633826] yaw=-34.1deg [env.py: 1019] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:18:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.1ms, total=201.1ms [env.py: 1075] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.212, -0.166) [env.py: 1079] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/12 09:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:18:09 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 09:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:18:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:18:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:18:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:18:13 INFO: [Worker 0] Feasible grasp found 450 (originally 450): w/ 0.673[m] 90.624[deg] [grasp_sample.py: 539] +05/12 09:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:14 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:18:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:18:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:18:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:18:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:18:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:18:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137854m [env.py: 870] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:18:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27669195 -1.21073739 -0.13785352] yaw=-42.9deg [env.py: 1019] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.7ms, total=258.8ms [env.py: 1075] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.211, -0.138) [env.py: 1079] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 09:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:18:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:18:16 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 09:18:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:18:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:18:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:18:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.866s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:18:19 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.662[m] 86.548[deg] [grasp_sample.py: 539] +05/12 09:18:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:18:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:18:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:18:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:18:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:18:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:19:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:19:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:19:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:19:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:19:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:19:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:19:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.476s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:19:09 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.132[m] 12.296[deg] [grasp_sample.py: 539] +05/12 09:19:10 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:19:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:19:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:19:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:19:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:19:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:19:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:19:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:19:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155393m [env.py: 870] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:19:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38599944 -1.1596865 -0.15539329] yaw=-45.5deg [env.py: 1019] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53962414 -0.74817228 -0.15539329] yaw=-62.5deg [env.py: 1019] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:19:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.4ms [env.py: 1075] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.160, -0.155) [env.py: 1079] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 09:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 09:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:19:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:19:12 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 09:19:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:19:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:19:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:19:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:19:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.712s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:19:16 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.627[m] 73.764[deg] [grasp_sample.py: 539] +05/12 09:19:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:19:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:19:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:19:46 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:20:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:03 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:20:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:20:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:20:05 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 09:20:05 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:20:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:20:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:20:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:20:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.77s (batch: 3.33s, save: 9.45s) [pipeline.py: 300] +05/12 09:20:18 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s: + episode_total: mean=138.22s, total=138.22s, count=1, min=138221.9ms, max=138221.9ms + sensor_polling: mean=325.6ms, total=93.12s, count=286, min=301.9ms, max=554.0ms + save_trajectories: mean=9.45s, total=9.45s, count=1, min=9448.8ms, max=9448.8ms + physics_step: mean=21.5ms, total=6.14s, count=286, min=14.9ms, max=55.0ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3325.4ms, max=3325.4ms + task_sampling: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms + task_specific_sample: mean=481.1ms, total=481.1ms, count=1, min=481.1ms, max=481.1ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=423.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191353m [env.py: 870] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=177.5ms, total=177.6ms [env.py: 1105] +05/12 09:20:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:20 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145556m [env.py: 870] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1105] +05/12 09:20:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:21 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108680m [env.py: 870] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34143876 -1.17227172 -0.10867969] yaw=-42.4deg [env.py: 1019] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.4ms, total=219.4ms [env.py: 1075] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.341, -1.172, -0.109) [env.py: 1079] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 09:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:23 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:23 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:20:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:20:23 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 09:20:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:20:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:20:24 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 09:20:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.781s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:25 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.682[m] 82.464[deg] [grasp_sample.py: 539] +05/12 09:20:26 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157887m [env.py: 870] +05/12 09:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26890838 -1.1587321 -0.15788727] yaw=-46.1deg [env.py: 1019] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57420554 -0.85225789 -0.15788727] yaw=-57.1deg [env.py: 1019] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27510502 -0.98039312 -0.15788727] yaw=-47.2deg [env.py: 1019] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.2ms, total=118.3ms [env.py: 1075] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -1.159, -0.158) [env.py: 1079] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 09:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 09:20:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:28 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.599s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.640[m] 88.791[deg] [grasp_sample.py: 539] +05/12 09:20:33 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:20:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157657m [env.py: 870] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=319.1ms, total=319.2ms [env.py: 1105] +05/12 09:20:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:34 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118580m [env.py: 870] +05/12 09:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=270.4ms, total=270.4ms [env.py: 1105] +05/12 09:20:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:36 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:20:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:20:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.46s (batch: 3.17s, save: 10.30s) [pipeline.py: 300] +05/12 09:20:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115276m [env.py: 870] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=293.1ms, total=293.1ms [env.py: 1105] +05/12 09:20:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:37 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.98s: + episode_total: mean=89.31s, total=178.62s, count=2, min=5641.8ms, max=172982.4ms + sensor_polling: mean=425.8ms, total=117.96s, count=277, min=335.8ms, max=635.9ms + save_trajectories: mean=10.30s, total=10.30s, count=1, min=10296.0ms, max=10296.0ms + physics_step: mean=26.8ms, total=7.43s, count=277, min=15.0ms, max=60.5ms + save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3165.5ms, max=3165.5ms + task_sampling: mean=488.3ms, total=976.7ms, count=2, min=412.8ms, max=563.9ms + task_specific_sample: mean=485.0ms, total=970.1ms, count=2, min=408.8ms, max=561.2ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=421.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:20:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:20:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:20:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.16s (batch: 3.04s, save: 11.12s) [pipeline.py: 300] +05/12 09:20:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177280m [env.py: 870] +05/12 09:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.4ms, total=203.4ms [env.py: 1105] +05/12 09:20:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:39 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:39 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.33s: + episode_total: mean=25.82s, total=154.94s, count=6, min=212.9ms, max=143186.3ms + sensor_polling: mean=361.7ms, total=97.28s, count=269, min=298.7ms, max=572.4ms + save_trajectories: mean=11.12s, total=11.12s, count=1, min=11115.6ms, max=11115.6ms + physics_step: mean=23.4ms, total=6.29s, count=269, min=15.3ms, max=48.8ms + save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3040.7ms, max=3040.7ms + task_specific_sample: mean=420.9ms, total=2.53s, count=6, min=209.5ms, max=597.4ms + task_sampling: mean=465.8ms, total=2.33s, count=5, min=404.0ms, max=601.2ms + task_sampling_failed: mean=212.9ms, total=212.9ms, count=1, min=212.9ms, max=212.9ms + scene_randomize: mean=1.3ms, total=7.8ms, count=6, min=0.9ms, max=2.3ms + mj_forward_sync: mean=463.7us, total=2.8ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=17.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163486m [env.py: 870] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23748345 -0.90998105 -0.16348641] yaw=-39.2deg [env.py: 1019] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=346.5ms, total=346.6ms [env.py: 1075] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -0.910, -0.163) [env.py: 1079] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg [env.py: 1082] +05/12 09:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:39 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101212m [env.py: 870] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51277037 -0.75171275 -0.10121246] yaw=-63.8deg [env.py: 1019] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132770m [env.py: 870] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4437663 -1.11127025 -0.10121246] yaw=-57.2deg [env.py: 1019] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.2ms, total=200.2ms [env.py: 1075] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.752, -0.101) [env.py: 1079] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg [env.py: 1082] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24543765 -0.94709185 -0.13276983] yaw=-57.8deg [env.py: 1019] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=221.1ms, total=221.1ms [env.py: 1075] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -0.947, -0.133) [env.py: 1079] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/12 09:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:41 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:41 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.487s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:20:41 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:20:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166865m [env.py: 870] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.836s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:20:43 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:20:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=295.7ms, total=295.8ms [env.py: 1105] +05/12 09:20:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:43 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.853s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:20:43 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:20:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170012m [env.py: 870] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26437509 -1.2161243 -0.17001231] yaw=-45.3deg [env.py: 1019] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164912m [env.py: 870] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127485m [env.py: 870] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=598.9ms, total=598.9ms [env.py: 1075] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.216, -0.170) [env.py: 1079] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=452.7ms, total=452.8ms [env.py: 1105] +05/12 09:20:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:44 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1953803 -1.03816151 -0.12748503] yaw=-40.6deg [env.py: 1019] +05/12 09:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=528.2ms, total=528.3ms [env.py: 1075] +05/12 09:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -1.038, -0.127) [env.py: 1079] +05/12 09:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 09:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 09:20:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:45 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:45 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181748m [env.py: 870] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.9ms, total=189.9ms [env.py: 1105] +05/12 09:20:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:20:46 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:20:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.878s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:47 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.668[m] 95.283[deg] [grasp_sample.py: 539] +05/12 09:20:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.772s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:20:47 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:20:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:20:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:20:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136507m [env.py: 870] +05/12 09:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51753398 -1.04816864 -0.13650746] yaw=-52.3deg [env.py: 1019] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=208.5ms, total=208.5ms [env.py: 1075] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -1.048, -0.137) [env.py: 1079] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:48 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140481m [env.py: 870] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39647217 -1.11167553 -0.14048082] yaw=-59.4deg [env.py: 1019] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms [env.py: 1075] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -1.112, -0.140) [env.py: 1079] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 09:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:49 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.633s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.623[m] 88.014[deg] [grasp_sample.py: 539] +05/12 09:20:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:20:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:20:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:20:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.613[m] 84.042[deg] [grasp_sample.py: 539] +05/12 09:20:52 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190639m [env.py: 870] +05/12 09:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46621434 -0.84528233 -0.19063856] yaw=-71.9deg [env.py: 1019] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.9ms, total=290.9ms [env.py: 1075] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.466, -0.845, -0.191) [env.py: 1079] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 09:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 09:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:54 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 09:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:20:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:20:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:20:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.482s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:20:57 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.741[m] 83.584[deg] [grasp_sample.py: 539] +05/12 09:20:58 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:20:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:20:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:20:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:20:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:20:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:20:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107179m [env.py: 870] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:20:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35939723 -1.11732325 -0.10717937] yaw=-37.3deg [env.py: 1019] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.58322552 -1.00707432 -0.10717937] yaw=-61.8deg [env.py: 1019] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62402431 -0.89246361 -0.10717937] yaw=-62.6deg [env.py: 1019] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:20:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.7ms, total=216.7ms [env.py: 1075] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.117, -0.107) [env.py: 1079] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/12 09:20:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:20:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:20:59 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 09:21:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:01 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:21:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.398s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:02 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.701[m] 76.447[deg] [grasp_sample.py: 539] +05/12 09:21:03 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:21:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123688m [env.py: 870] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=246.5ms, total=246.6ms [env.py: 1105] +05/12 09:21:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:21:05 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:21:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179139m [env.py: 870] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50070387 -0.96129588 -0.1791392 ] yaw=-62.2deg [env.py: 1019] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.4ms [env.py: 1075] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -0.961, -0.179) [env.py: 1079] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/12 09:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:21:07 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 09:21:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.293s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:13 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.691[m] 89.795[deg] [grasp_sample.py: 539] +05/12 09:21:14 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:21:14 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 09:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124193m [env.py: 870] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.6ms, total=206.7ms [env.py: 1105] +05/12 09:21:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:21:16 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129829m [env.py: 870] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54358542 -0.74882654 -0.12982865] yaw=-73.3deg [env.py: 1019] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.4ms, total=216.5ms [env.py: 1075] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -0.749, -0.130) [env.py: 1079] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/12 09:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:21:17 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 09:21:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.413s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:21:19 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:21:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:21:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:21:20 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 09:21:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159217m [env.py: 870] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50773382 -0.77667692 -0.15921696] yaw=-68.8deg [env.py: 1019] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.4ms [env.py: 1075] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.777, -0.159) [env.py: 1079] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg [env.py: 1082] +05/12 09:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:21:21 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 09:21:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.847s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:21:23 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162433m [env.py: 870] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=193.6ms, total=193.7ms [env.py: 1105] +05/12 09:21:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:21:24 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:21:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142021m [env.py: 870] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60075767 -0.943326 -0.14202079] yaw=-75.7deg [env.py: 1019] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms [env.py: 1075] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.943, -0.142) [env.py: 1079] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 09:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:21:26 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 09:21:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:30 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.730[m] 88.112[deg] [grasp_sample.py: 539] +05/12 09:21:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:21:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:21:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:21:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:21:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.05s (batch: 3.37s, save: 8.68s) [pipeline.py: 300] +05/12 09:21:32 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.04s: + episode_total: mean=117.95s, total=235.91s, count=2, min=94815.2ms, max=141091.2ms + sensor_polling: mean=371.5ms, total=154.18s, count=415, min=296.7ms, max=849.4ms + physics_step: mean=24.0ms, total=9.94s, count=415, min=14.8ms, max=80.7ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8677.3ms, max=8677.3ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.5ms, max=3374.5ms + task_sampling: mean=520.1ms, total=1.04s, count=2, min=407.9ms, max=632.3ms + task_specific_sample: mean=517.0ms, total=1.03s, count=2, min=405.5ms, max=628.5ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.0ms, max=2.2ms + mj_forward_sync: mean=477.5us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:21:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:21:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186696m [env.py: 870] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49537904 -0.93161041 -0.18669555] yaw=-71.1deg [env.py: 1019] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.5ms, total=180.6ms [env.py: 1075] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -0.932, -0.187) [env.py: 1079] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/12 09:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:21:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:21:34 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 09:21:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 09:21:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:21:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:21:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:21:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.652s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:21:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.707[m] 88.628[deg] [grasp_sample.py: 539] +05/12 09:21:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:21:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:21:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:21:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:21:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:22:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:22:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:22:30 INFO: [Worker 0] Feasible grasp found 455 (originally 455): w/ 0.309[m] 24.080[deg] [grasp_sample.py: 539] +05/12 09:22:31 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:22:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112165m [env.py: 870] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41601842 -1.07037446 -0.11216522] yaw=-50.4deg [env.py: 1019] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52657201 -0.78280934 -0.11216522] yaw=-70.3deg [env.py: 1019] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=198.9ms [env.py: 1075] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.416, -1.070, -0.112) [env.py: 1079] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 09:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:22:32 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 09:22:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 09:22:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.512s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:22:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.690[m] 84.740[deg] [grasp_sample.py: 539] +05/12 09:22:35 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178890m [env.py: 870] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.10952674 -1.04248225 -0.1788895 ] yaw=-35.4deg [env.py: 1019] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60350689 -0.79558835 -0.1788895 ] yaw=-73.4deg [env.py: 1019] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27884036 -1.12990481 -0.1788895 ] yaw=-47.3deg [env.py: 1019] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.5ms, total=204.5ms [env.py: 1075] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -1.042, -0.179) [env.py: 1079] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/12 09:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 09:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:22:37 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 09:22:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:22:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:38 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:22:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.000s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:22:39 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199010m [env.py: 870] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47905175 -0.75405742 -0.19900984] yaw=-61.6deg [env.py: 1019] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30496894 -1.04022711 -0.19900984] yaw=-51.9deg [env.py: 1019] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.2ms [env.py: 1075] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -0.754, -0.199) [env.py: 1079] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.6 deg [env.py: 1082] +05/12 09:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 09:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:22:41 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 09:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:22:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:22:42 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:22:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:22:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142985m [env.py: 870] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.1ms, total=198.1ms [env.py: 1105] +05/12 09:22:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:22:44 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:22:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.581s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:22:45 INFO: [Worker 0] Feasible grasp found 74 (originally 74): w/ 0.139[m] 21.196[deg] [grasp_sample.py: 539] +05/12 09:22:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143302m [env.py: 870] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.1ms, total=186.1ms [env.py: 1105] +05/12 09:22:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:22:45 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:22:46 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:22:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148328m [env.py: 870] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43414126 -1.01924016 -0.1483279 ] yaw=-59.8deg [env.py: 1019] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.8ms [env.py: 1075] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.019, -0.148) [env.py: 1079] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/12 09:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:22:47 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 09:22:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:22:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126408m [env.py: 870] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=218.1ms, total=218.2ms [env.py: 1105] +05/12 09:22:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:22:48 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:22:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:22:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 78.925[deg] [grasp_sample.py: 539] +05/12 09:22:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185248m [env.py: 870] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1105] +05/12 09:22:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:22:49 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:22:50 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:22:50 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:22:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189865m [env.py: 870] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.6ms, total=191.6ms [env.py: 1105] +05/12 09:22:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:22:51 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:22:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123287m [env.py: 870] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51901335 -0.72367607 -0.1232875 ] yaw=-71.9deg [env.py: 1019] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=211.2ms, total=211.3ms [env.py: 1075] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.519, -0.724, -0.123) [env.py: 1079] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:22:52 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 09:22:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:22:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169825m [env.py: 870] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48292431 -0.87888417 -0.1698254 ] yaw=-64.8deg [env.py: 1019] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55590863 -0.97890726 -0.1698254 ] yaw=-52.3deg [env.py: 1019] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.5ms, total=195.5ms [env.py: 1075] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.879, -0.170) [env.py: 1079] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 09:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/12 09:22:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:22:53 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 09:22:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 09:22:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.681s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:22:54 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:22:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.941s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:22:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.718[m] 82.780[deg] [grasp_sample.py: 539] +05/12 09:22:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163235m [env.py: 870] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45000391 -1.04904651 -0.16323479] yaw=-64.7deg [env.py: 1019] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.2ms, total=241.3ms [env.py: 1075] +05/12 09:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -1.049, -0.163) [env.py: 1079] +05/12 09:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 09:22:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 09:22:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:22:56 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 09:22:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:22:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:22:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:22:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:22:56 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:22:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.804s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:22:58 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.629[m] 87.879[deg] [grasp_sample.py: 539] +05/12 09:22:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157299m [env.py: 870] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.0ms, total=191.1ms [env.py: 1105] +05/12 09:22:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:22:58 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:22:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:22:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:22:58 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:22:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:22:58 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 09:22:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:22:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:22:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:22:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:22:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:22:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:22:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:22:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119421m [env.py: 870] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:22:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14576051 -0.99261717 -0.11942063] yaw=-36.9deg [env.py: 1019] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52531792 -0.88023237 -0.11942063] yaw=-63.4deg [env.py: 1019] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:22:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.5ms, total=229.5ms [env.py: 1075] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -0.993, -0.119) [env.py: 1079] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg [env.py: 1082] +05/12 09:22:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:22:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:23:00 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 09:23:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.432s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:23:01 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:23:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:23:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:23:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:23:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104471m [env.py: 870] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:23:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10448126 -1.09588485 -0.10447073] yaw=-42.4deg [env.py: 1019] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45114801 -1.09626747 -0.10447073] yaw=-58.6deg [env.py: 1019] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=195.8ms, total=195.9ms [env.py: 1075] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.104, -1.096, -0.104) [env.py: 1079] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 09:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:23:03 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 09:23:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:23:04 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:23:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:23:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:23:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:23:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107997m [env.py: 870] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:23:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27982314 -1.06610501 -0.10799707] yaw=-43.3deg [env.py: 1019] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=181.7ms, total=181.7ms [env.py: 1075] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.066, -0.108) [env.py: 1079] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/12 09:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:23:06 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 09:23:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.547s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.739[m] 90.509[deg] [grasp_sample.py: 539] +05/12 09:23:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:23:08 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:23:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:23:08 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 09:23:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:23:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:23:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:23:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:23:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:23:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.92s (batch: 3.74s, save: 9.19s) [pipeline.py: 300] +05/12 09:23:12 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.97s: + episode_total: mean=29.59s, total=147.93s, count=5, min=198.9ms, max=144438.2ms + sensor_polling: mean=369.3ms, total=96.77s, count=262, min=326.6ms, max=513.9ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9187.3ms, max=9187.3ms + physics_step: mean=22.0ms, total=5.76s, count=262, min=16.6ms, max=35.8ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3735.1ms, max=3735.1ms + task_specific_sample: mean=367.5ms, total=1.84s, count=5, min=195.8ms, max=501.3ms + task_sampling: mean=485.7ms, total=971.5ms, count=2, min=466.9ms, max=504.6ms + task_sampling_failed: mean=295.6ms, total=886.8ms, count=3, min=198.8ms, max=474.5ms + scene_randomize: mean=1.4ms, total=7.2ms, count=5, min=1.0ms, max=2.4ms + mj_forward_sync: mean=530.6us, total=2.7ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156157m [env.py: 870] +05/12 09:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43995197 -0.91256399 -0.15615722] yaw=-47.2deg [env.py: 1019] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=539.5ms, total=539.6ms [env.py: 1075] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.913, -0.156) [env.py: 1079] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/12 09:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 09:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:23:14 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 09:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.669s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.779[m] 80.905[deg] [grasp_sample.py: 539] +05/12 09:23:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:23:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:23:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:23:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:23:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:23:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.60s (batch: 2.82s, save: 8.78s) [pipeline.py: 300] +05/12 09:23:21 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=2.21s: + episode_total: mean=16.91s, total=169.13s, count=10, min=189.1ms, max=156690.6ms + sensor_polling: mean=428.1ms, total=113.87s, count=266, min=297.9ms, max=664.8ms + save_trajectories: mean=8.78s, total=8.78s, count=1, min=8780.1ms, max=8780.1ms + physics_step: mean=26.4ms, total=7.02s, count=266, min=19.7ms, max=95.8ms + task_specific_sample: mean=378.4ms, total=3.78s, count=10, min=183.5ms, max=871.4ms + save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2821.3ms, max=2821.3ms + task_sampling: mean=551.4ms, total=2.21s, count=4, min=317.2ms, max=873.5ms + task_sampling_failed: mean=267.9ms, total=1.61s, count=6, min=189.1ms, max=327.1ms + scene_randomize: mean=1.2ms, total=11.5ms, count=10, min=0.9ms, max=2.4ms + mj_forward_sync: mean=444.0us, total=4.4ms, count=10, min=0.4ms, max=0.7ms + policy_setup: mean=15.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:23:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:23:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:23:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132463m [env.py: 870] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:23:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33212884 -1.04303046 -0.13246325] yaw=-55.2deg [env.py: 1019] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.3ms, total=189.4ms [env.py: 1075] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -1.043, -0.132) [env.py: 1079] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 09:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:23:22 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 09:23:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.725[m] 91.585[deg] [grasp_sample.py: 539] +05/12 09:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:25 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:23:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:23:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:23:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:23:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:23:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:23:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198929m [env.py: 870] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:23:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26962961 -1.13278093 -0.19892927] yaw=-42.2deg [env.py: 1019] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44414074 -0.90511953 -0.19892927] yaw=-52.3deg [env.py: 1019] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.0ms [env.py: 1075] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -1.133, -0.199) [env.py: 1079] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 09:23:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:23:27 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 09:23:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:28 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.465[m] 59.979[deg] [grasp_sample.py: 539] +05/12 09:23:29 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:23:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.814s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:30 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.659[m] 81.698[deg] [grasp_sample.py: 539] +05/12 09:23:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:23:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:23:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161120m [env.py: 870] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:23:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=346.6ms, total=346.7ms [env.py: 1105] +05/12 09:23:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:23:30 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:23:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:23:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:23:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:23:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:23:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:23:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:23:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135468m [env.py: 870] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:23:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.57228569 -0.93727962 -0.13546763] yaw=-69.1deg [env.py: 1019] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:23:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=271.9ms, total=271.9ms [env.py: 1075] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.937, -0.135) [env.py: 1079] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 09:23:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:23:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:23:32 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 09:23:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 09:23:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:23:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:23:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:23:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.678s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:23:36 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.729[m] 82.403[deg] [grasp_sample.py: 539] +05/12 09:23:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:23:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:23:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:24:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:24:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:24:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:49 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:24:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:24:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:24:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:24:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:24:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:24:55 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.203[m] 15.110[deg] [grasp_sample.py: 539] +05/12 09:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:24:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:24:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:25:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:25:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:25:08 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 09:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:11 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:25:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:12 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:25:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:25:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:25:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 501 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:25:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:25:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.26s (batch: 3.00s, save: 9.26s) [pipeline.py: 300] +05/12 09:25:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=2.07s: + episode_total: mean=24.05s, total=216.49s, count=9, min=199.2ms, max=135536.9ms + sensor_polling: mean=328.3ms, total=141.50s, count=431, min=295.2ms, max=572.6ms + physics_step: mean=21.5ms, total=9.28s, count=431, min=14.8ms, max=49.0ms + save_trajectories: mean=9.26s, total=9.26s, count=1, min=9260.9ms, max=9260.9ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3001.6ms, max=3001.6ms + task_specific_sample: mean=320.9ms, total=2.89s, count=9, min=196.3ms, max=447.1ms + task_sampling: mean=413.5ms, total=2.07s, count=5, min=394.6ms, max=451.1ms + task_sampling_failed: mean=211.8ms, total=847.2ms, count=4, min=199.2ms, max=227.7ms + scene_randomize: mean=1.2ms, total=11.2ms, count=9, min=0.9ms, max=2.2ms + mj_forward_sync: mean=480.4us, total=4.3ms, count=9, min=0.4ms, max=0.9ms + policy_setup: mean=19.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:25:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159346m [env.py: 870] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56573045 -0.77998402 -0.15934623] yaw=-67.7deg [env.py: 1019] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52523656 -0.92850811 -0.15934623] yaw=-55.4deg [env.py: 1019] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37650624 -0.93938433 -0.15934623] yaw=-47.9deg [env.py: 1019] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.4ms, total=305.4ms [env.py: 1075] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.780, -0.159) [env.py: 1079] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 09:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 09:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:23 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.633s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:25:24 INFO: [Worker 0] Feasible grasp found 499 (originally 499): w/ 0.057[m] 5.084[deg] [grasp_sample.py: 539] +05/12 09:25:25 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:25:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115518m [env.py: 870] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60567142 -0.7606949 -0.11551789] yaw=-71.9deg [env.py: 1019] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17205191 -0.99500231 -0.11551789] yaw=-50.0deg [env.py: 1019] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23682417 -1.18076071 -0.11551789] yaw=-45.4deg [env.py: 1019] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=262.6ms, total=262.6ms [env.py: 1075] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.606, -0.761, -0.116) [env.py: 1079] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/12 09:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:27 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:28 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:25:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:25:28 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 09:25:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:25:29 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:25:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.218s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:25:29 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.780[m] 80.146[deg] [grasp_sample.py: 539] +05/12 09:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:25:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:25:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:25:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108918m [env.py: 870] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33114803 -0.97521286 -0.10891818] yaw=-51.1deg [env.py: 1019] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.9ms, total=225.9ms [env.py: 1075] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.975, -0.109) [env.py: 1079] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 09:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:25:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:31 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:33 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:25:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:25:33 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 09:25:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.066s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:25:37 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.791[m] 87.657[deg] [grasp_sample.py: 539] +05/12 09:25:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:25:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:25:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:25:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:25:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:25:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:25:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.20s (batch: 2.80s, save: 8.40s) [pipeline.py: 300] +05/12 09:25:40 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.86s: + episode_total: mean=68.16s, total=136.33s, count=2, min=3314.5ms, max=133014.8ms + sensor_polling: mean=346.0ms, total=92.37s, count=267, min=309.8ms, max=580.5ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8397.6ms, max=8397.6ms + physics_step: mean=22.5ms, total=6.02s, count=267, min=19.8ms, max=58.2ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2804.8ms, max=2804.8ms + task_sampling: mean=430.1ms, total=860.2ms, count=2, min=413.1ms, max=447.1ms + task_specific_sample: mean=426.9ms, total=853.9ms, count=2, min=410.4ms, max=443.4ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.0ms, max=2.5ms + mj_forward_sync: mean=417.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178783m [env.py: 870] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.8ms, total=186.8ms [env.py: 1105] +05/12 09:25:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:25:41 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:25:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123699m [env.py: 870] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21259078 -1.14275029 -0.12369937] yaw=-46.9deg [env.py: 1019] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.2ms [env.py: 1075] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.143, -0.124) [env.py: 1079] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 09:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:43 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.577s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:25:44 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.751[m] 83.776[deg] [grasp_sample.py: 539] +05/12 09:25:46 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:25:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:25:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:25:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.13s (batch: 3.36s, save: 9.77s) [pipeline.py: 300] +05/12 09:25:47 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.80s: + episode_total: mean=153.41s, total=153.41s, count=1, min=153406.3ms, max=153406.3ms + sensor_polling: mean=361.3ms, total=105.49s, count=292, min=325.3ms, max=525.9ms + save_trajectories: mean=9.77s, total=9.77s, count=1, min=9770.2ms, max=9770.2ms + physics_step: mean=21.9ms, total=6.40s, count=292, min=15.1ms, max=58.4ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3362.6ms, max=3362.6ms + task_sampling: mean=800.6ms, total=800.6ms, count=1, min=800.6ms, max=800.6ms + task_specific_sample: mean=796.2ms, total=796.2ms, count=1, min=796.2ms, max=796.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=621.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199600m [env.py: 870] +05/12 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=352.8ms, total=352.9ms [env.py: 1105] +05/12 09:25:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:25:48 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124916m [env.py: 870] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54120258 -0.79613867 -0.12491591] yaw=-64.4deg [env.py: 1019] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.5ms, total=212.6ms [env.py: 1075] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.796, -0.125) [env.py: 1079] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/12 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:48 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192742m [env.py: 870] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.0ms, total=208.0ms [env.py: 1105] +05/12 09:25:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:25:50 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:25:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.409s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:25:50 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:25:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114782m [env.py: 870] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4728553 -0.85341418 -0.11478244] yaw=-62.6deg [env.py: 1019] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.1ms, total=217.1ms [env.py: 1075] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -0.853, -0.115) [env.py: 1079] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:51 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160783m [env.py: 870] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.7ms, total=197.7ms [env.py: 1105] +05/12 09:25:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:25:52 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:25:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.187s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196472m [env.py: 870] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23747916 -1.07458049 -0.19647236] yaw=-41.6deg [env.py: 1019] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=163.5ms, total=163.6ms [env.py: 1075] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.075, -0.196) [env.py: 1079] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg [env.py: 1082] +05/12 09:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:53 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.490s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:25:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.692[m] 78.807[deg] [grasp_sample.py: 539] +05/12 09:25:56 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:25:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:25:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:25:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:25:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:25:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:25:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115435m [env.py: 870] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:25:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29459278 -1.02476344 -0.11543508] yaw=-48.2deg [env.py: 1019] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:25:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.0ms, total=194.1ms [env.py: 1075] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.025, -0.115) [env.py: 1079] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/12 09:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:25:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:25:58 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 09:25:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 09:25:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:25:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:25:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:25:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.362s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:25:59 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.734[m] 71.737[deg] [grasp_sample.py: 539] +05/12 09:26:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.652s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:26:00 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.738[m] 88.135[deg] [grasp_sample.py: 539] +05/12 09:26:00 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:26:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:26:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:26:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:26:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:26:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:26:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195984m [env.py: 870] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28156699 -0.98758165 -0.19598406] yaw=-44.8deg [env.py: 1019] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:26:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=680.3ms, total=680.3ms [env.py: 1075] +05/12 09:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -0.988, -0.196) [env.py: 1079] +05/12 09:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg [env.py: 1082] +05/12 09:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 09:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:26:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:26:03 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 09:26:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:26:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:26:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:26:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:26:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.653s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:26:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.739[m] 89.053[deg] [grasp_sample.py: 539] +05/12 09:26:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:26:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:26:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:26:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:26:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:26:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:26:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:26:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:26:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:26:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:27:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 25.287s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:27:02 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:27:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:27:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:27:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:27:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:27:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:27:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:27:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169389m [env.py: 870] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:27:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58317145 -0.98869945 -0.16938864] yaw=-70.6deg [env.py: 1019] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43602944 -1.0653831 -0.16938864] yaw=-42.1deg [env.py: 1019] +05/12 09:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=782.3ms, total=782.3ms [env.py: 1075] +05/12 09:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.989, -0.169) [env.py: 1079] +05/12 09:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg [env.py: 1082] +05/12 09:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 09:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:27:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:27:05 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 09:27:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:27:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:27:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:27:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.208s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:27:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.647[m] 88.102[deg] [grasp_sample.py: 539] +05/12 09:27:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:27:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:27:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:27:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:27:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:29 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:27:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:27:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:27:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:27:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:27:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.709s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:27:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.481[m] 60.329[deg] [grasp_sample.py: 539] +05/12 09:27:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:27:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:27:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:45 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:27:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:51 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:27:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:27:51 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/12 09:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:27:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:27:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:27:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:27:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:27:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.711s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:27:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.481[m] 60.331[deg] [grasp_sample.py: 539] +05/12 09:27:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:27:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:27:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:02 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:28:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:28:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:28:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:28:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.71s (batch: 3.78s, save: 10.93s) [pipeline.py: 300] +05/12 09:28:06 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:28:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:28:06 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 09:28:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.751s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.481[m] 60.331[deg] [grasp_sample.py: 539] +05/12 09:28:07 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=8.34s: + episode_total: mean=17.35s, total=416.47s, count=24, min=194.0ms, max=156434.1ms + sensor_polling: mean=352.6ms, total=232.73s, count=660, min=296.6ms, max=639.4ms + physics_step: mean=22.2ms, total=14.68s, count=660, min=14.7ms, max=36.3ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10926.2ms, max=10926.2ms + task_specific_sample: mean=404.2ms, total=9.70s, count=24, min=191.0ms, max=768.8ms + task_sampling: mean=463.2ms, total=8.34s, count=18, min=388.2ms, max=771.9ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.4ms, max=3782.4ms + task_sampling_failed: mean=238.9ms, total=1.43s, count=6, min=193.9ms, max=358.2ms + scene_randomize: mean=1.1ms, total=27.6ms, count=24, min=0.9ms, max=2.9ms + mj_forward_sync: mean=426.9us, total=10.2ms, count=24, min=0.4ms, max=0.7ms + policy_setup: mean=13.4us, total=0.2ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=24, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:28:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:28:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:28:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:28:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193266m [env.py: 870] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53014253 -0.93865792 -0.19326602] yaw=-69.0deg [env.py: 1019] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.1ms, total=179.2ms [env.py: 1075] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.939, -0.193) [env.py: 1079] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.0 deg [env.py: 1082] +05/12 09:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:08 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.715s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.671[m] 89.760[deg] [grasp_sample.py: 539] +05/12 09:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:13 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169014m [env.py: 870] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1105] +05/12 09:28:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:28:15 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119637m [env.py: 870] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21521608 -0.91894616 -0.1196372 ] yaw=-38.0deg [env.py: 1019] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47212566 -1.0456853 -0.1196372 ] yaw=-44.9deg [env.py: 1019] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.7ms, total=192.7ms [env.py: 1075] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -0.919, -0.120) [env.py: 1079] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/12 09:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:17 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:28:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:28:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.46s (batch: 3.07s, save: 9.39s) [pipeline.py: 300] +05/12 09:28:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.740s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:28:18 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:28:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:28:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:28:19 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.82s: + episode_total: mean=30.48s, total=152.42s, count=5, min=197.6ms, max=147919.7ms + sensor_polling: mean=339.7ms, total=95.46s, count=281, min=301.1ms, max=666.6ms + save_trajectories: mean=9.39s, total=9.39s, count=1, min=9394.2ms, max=9394.2ms + physics_step: mean=21.8ms, total=6.12s, count=281, min=14.7ms, max=33.4ms + save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3065.8ms, max=3065.8ms + task_specific_sample: mean=315.4ms, total=1.58s, count=5, min=192.4ms, max=417.4ms + task_sampling: mean=408.5ms, total=817.0ms, count=2, min=397.4ms, max=419.6ms + task_sampling_failed: mean=258.7ms, total=776.0ms, count=3, min=197.6ms, max=362.4ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=0.9ms, max=2.3ms + mj_forward_sync: mean=465.7us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:28:19 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:28:19 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.66s: + episode_total: mean=87.53s, total=175.07s, count=2, min=75258.8ms, max=99807.0ms + sensor_polling: mean=379.2ms, total=84.19s, count=222, min=294.1ms, max=648.8ms + physics_step: mean=22.2ms, total=4.93s, count=222, min=13.1ms, max=61.3ms + task_sampling: mean=829.0ms, total=1.66s, count=2, min=557.2ms, max=1100.7ms + task_specific_sample: mean=825.7ms, total=1.65s, count=2, min=554.0ms, max=1097.4ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.3ms, max=1.8ms + mj_forward_sync: mean=498.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:28:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165060m [env.py: 870] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1329324 -1.01143751 -0.16505971] yaw=-49.9deg [env.py: 1019] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1075] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.133, -1.011, -0.165) [env.py: 1079] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:20 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170961m [env.py: 870] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198889m [env.py: 870] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34883408 -1.06623751 -0.17096074] yaw=-59.0deg [env.py: 1019] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18353864 -1.13765773 -0.19888882] yaw=-32.7deg [env.py: 1019] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=393.5ms, total=393.5ms [env.py: 1075] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -1.138, -0.199) [env.py: 1079] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg [env.py: 1082] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=662.5ms, total=662.6ms [env.py: 1075] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -1.066, -0.171) [env.py: 1079] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 09:28:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:21 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:21 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.858s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:28:22 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:28:23 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:28:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:28:23 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 09:28:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.670[m] 89.377[deg] [grasp_sample.py: 539] +05/12 09:28:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137455m [env.py: 870] +05/12 09:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=413.7ms, total=413.7ms [env.py: 1105] +05/12 09:28:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:28:24 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:28:24 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:28:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190975m [env.py: 870] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=305.1ms, total=305.1ms [env.py: 1105] +05/12 09:28:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:28:25 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:28:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.114s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:25 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.708[m] 88.155[deg] [grasp_sample.py: 539] +05/12 09:28:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119479m [env.py: 870] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=237.9ms, total=237.9ms [env.py: 1105] +05/12 09:28:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:28:26 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:28:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:28:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:28:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:28:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:28:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167053m [env.py: 870] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144970m [env.py: 870] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=301.8ms, total=301.8ms [env.py: 1105] +05/12 09:28:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:28:27 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:28:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=441.9ms, total=441.9ms [env.py: 1105] +05/12 09:28:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:28:27 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:28:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140520m [env.py: 870] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54327974 -0.81039996 -0.1405204 ] yaw=-76.8deg [env.py: 1019] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.0ms, total=236.0ms [env.py: 1075] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -0.810, -0.141) [env.py: 1079] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.8 deg [env.py: 1082] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187946m [env.py: 870] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:29 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=268.6ms, total=268.6ms [env.py: 1105] +05/12 09:28:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:28:29 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:28:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152155m [env.py: 870] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36052312 -0.96053493 -0.15215454] yaw=-42.3deg [env.py: 1019] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=348.4ms, total=348.5ms [env.py: 1075] +05/12 09:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.961, -0.152) [env.py: 1079] +05/12 09:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg [env.py: 1082] +05/12 09:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 09:28:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:31 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:28:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:28:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.02s (batch: 3.48s, save: 9.54s) [pipeline.py: 300] +05/12 09:28:36 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=2.10s: + episode_total: mean=32.64s, total=163.18s, count=5, min=207.5ms, max=154582.7ms + sensor_polling: mean=372.8ms, total=106.25s, count=285, min=316.8ms, max=606.1ms + save_trajectories: mean=9.54s, total=9.54s, count=1, min=9541.5ms, max=9541.5ms + physics_step: mean=22.2ms, total=6.32s, count=285, min=19.7ms, max=58.1ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3475.0ms, max=3475.0ms + task_specific_sample: mean=459.3ms, total=2.30s, count=5, min=202.9ms, max=887.2ms + task_sampling: mean=526.2ms, total=2.10s, count=4, min=355.4ms, max=890.0ms + task_sampling_failed: mean=207.5ms, total=207.5ms, count=1, min=207.5ms, max=207.5ms + scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=1.0ms, max=2.1ms + mj_forward_sync: mean=499.8us, total=2.5ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:28:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.983s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:37 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.745[m] 84.917[deg] [grasp_sample.py: 539] +05/12 09:28:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192323m [env.py: 870] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31083063 -1.12720481 -0.19232311] yaw=-45.3deg [env.py: 1019] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.7ms, total=233.7ms [env.py: 1075] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.127, -0.192) [env.py: 1079] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 09:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:38 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:38 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:28:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:28:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:28:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:28:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:28:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:28:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128673m [env.py: 870] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:28:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62760962 -0.97986681 -0.12867347] yaw=-55.6deg [env.py: 1019] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:28:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1075] +05/12 09:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.628, -0.980, -0.129) [env.py: 1079] +05/12 09:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/12 09:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 09:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:28:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.493s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.659[m] 80.501[deg] [grasp_sample.py: 539] +05/12 09:28:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:28:40 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 09:28:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:28:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:28:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:28:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:28:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:28:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:28:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:28:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.797s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.649[m] 86.754[deg] [grasp_sample.py: 539] +05/12 09:28:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:28:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:28:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:28:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:28:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.358s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:28:43 INFO: [Worker 0] Feasible grasp found 152 (originally 152): w/ 0.794[m] 96.441[deg] [grasp_sample.py: 539] +05/12 09:28:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:28:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:28:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:29:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:29:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:29:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.138s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.472[m] 58.279[deg] [grasp_sample.py: 539] +05/12 09:29:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:29:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:29:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:29:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:29:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:29:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:29:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.109s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:25 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.465[m] 57.739[deg] [grasp_sample.py: 539] +05/12 09:29:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:29:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:29:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:29:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:29:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:29:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.193s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:42 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.465[m] 57.740[deg] [grasp_sample.py: 539] +05/12 09:29:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:29:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:29:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:29:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:29:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.666s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:49 INFO: [Worker 0] Feasible grasp found 497 (originally 497): w/ 0.137[m] 9.262[deg] [grasp_sample.py: 539] +05/12 09:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:29:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:29:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:29:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:29:53 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:29:54 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:29:54 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=2.28s: + episode_total: mean=9.40s, total=93.98s, count=10, min=207.8ms, max=74273.1ms + sensor_polling: mean=322.6ms, total=25.48s, count=79, min=300.6ms, max=471.2ms + task_specific_sample: mean=391.5ms, total=3.91s, count=10, min=203.4ms, max=603.8ms + task_sampling: mean=455.1ms, total=2.28s, count=5, min=397.7ms, max=606.0ms + task_sampling_failed: mean=333.6ms, total=1.67s, count=5, min=207.8ms, max=449.4ms + physics_step: mean=19.0ms, total=1.50s, count=79, min=13.3ms, max=21.7ms + scene_randomize: mean=1.1ms, total=11.4ms, count=10, min=0.9ms, max=2.3ms + mj_forward_sync: mean=435.8us, total=4.4ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:29:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:29:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:29:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:29:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:29:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163992m [env.py: 870] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:29:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34114508 -1.20678357 -0.16399219] yaw=-41.1deg [env.py: 1019] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:29:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.3ms, total=213.4ms [env.py: 1075] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.341, -1.207, -0.164) [env.py: 1079] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/12 09:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:29:55 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 09:29:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 09:29:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:29:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:29:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.908s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:29:59 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.603[m] 92.386[deg] [grasp_sample.py: 539] +05/12 09:29:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:29:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:29:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:29:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:00 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:30:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153541m [env.py: 870] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50271455 -0.9911611 -0.15354145] yaw=-63.8deg [env.py: 1019] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.6ms, total=273.6ms [env.py: 1075] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.991, -0.154) [env.py: 1079] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg [env.py: 1082] +05/12 09:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:02 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.035s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:03 INFO: [Worker 0] Feasible grasp found 338 (originally 338): w/ 0.168[m] 20.659[deg] [grasp_sample.py: 539] +05/12 09:30:05 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:30:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186782m [env.py: 870] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48713008 -1.06681543 -0.18678218] yaw=-65.9deg [env.py: 1019] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.2ms, total=207.2ms [env.py: 1075] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -1.067, -0.187) [env.py: 1079] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 09:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:06 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:06 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:30:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.052s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:07 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.728[m] 88.440[deg] [grasp_sample.py: 539] +05/12 09:30:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.332s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.606[m] 85.737[deg] [grasp_sample.py: 539] +05/12 09:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:30:08 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:30:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:30:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:30:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112464m [env.py: 870] +05/12 09:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.2ms, total=198.3ms [env.py: 1105] +05/12 09:30:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:30:10 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:30:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132764m [env.py: 870] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53662778 -0.93329835 -0.1327643 ] yaw=-55.1deg [env.py: 1019] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1075] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.537, -0.933, -0.133) [env.py: 1079] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 09:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:11 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.503s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.735[m] 95.018[deg] [grasp_sample.py: 539] +05/12 09:30:15 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:30:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170976m [env.py: 870] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.2ms, total=210.2ms [env.py: 1105] +05/12 09:30:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:30:17 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:30:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150039m [env.py: 870] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54327595 -0.72971556 -0.15003898] yaw=-60.1deg [env.py: 1019] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.1ms, total=220.1ms [env.py: 1075] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -0.730, -0.150) [env.py: 1079] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 09:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:19 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.517s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:30:20 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146470m [env.py: 870] +05/12 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26060353 -1.0484494 -0.14646985] yaw=-47.5deg [env.py: 1019] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.7ms, total=193.8ms [env.py: 1075] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.261, -1.048, -0.146) [env.py: 1079] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 09:30:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 09:30:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:22 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:24 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.757[m] 86.485[deg] [grasp_sample.py: 539] +05/12 09:30:25 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174485m [env.py: 870] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58731923 -0.82386381 -0.17448465] yaw=-75.7deg [env.py: 1019] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.3ms, total=197.4ms [env.py: 1075] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.587, -0.824, -0.174) [env.py: 1079] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 09:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:26 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:27 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:30:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:30:27 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 09:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:30:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:30:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.194s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:36 INFO: [Worker 0] Feasible grasp found 1296 (originally 632): w/ 0.713[m] 87.163[deg] [grasp_sample.py: 539] +05/12 09:30:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.455[m] 60.454[deg] [grasp_sample.py: 539] +05/12 09:30:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:30:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:30:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:37 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:30:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165268m [env.py: 870] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.2ms, total=189.2ms [env.py: 1105] +05/12 09:30:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:30:39 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139203m [env.py: 870] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37727029 -1.12209707 -0.13920258] yaw=-43.6deg [env.py: 1019] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms [env.py: 1075] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.122, -0.139) [env.py: 1079] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg [env.py: 1082] +05/12 09:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:30:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:30:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.85s (batch: 3.32s, save: 9.53s) [pipeline.py: 300] +05/12 09:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:40 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:41 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.65s: + episode_total: mean=140.19s, total=140.19s, count=1, min=140189.0ms, max=140189.0ms + sensor_polling: mean=329.9ms, total=92.05s, count=279, min=296.2ms, max=798.0ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9533.7ms, max=9533.7ms + physics_step: mean=22.2ms, total=6.20s, count=279, min=19.7ms, max=98.6ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3315.2ms, max=3315.2ms + task_sampling: mean=651.9ms, total=651.9ms, count=1, min=651.9ms, max=651.9ms + task_specific_sample: mean=648.4ms, total=648.4ms, count=1, min=648.4ms, max=648.4ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=568.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:30:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192934m [env.py: 870] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30646208 -0.84754826 -0.19293388] yaw=-46.6deg [env.py: 1019] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.0ms, total=209.1ms [env.py: 1075] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.306, -0.848, -0.193) [env.py: 1079] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 09:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:42 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.922s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:43 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.668[m] 82.548[deg] [grasp_sample.py: 539] +05/12 09:30:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:30:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:30:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.709s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:30:44 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:30:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187486m [env.py: 870] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15715488 -0.97802155 -0.18748635] yaw=-50.7deg [env.py: 1019] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.157, -0.978, -0.187) [env.py: 1079] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 09:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:46 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.583s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:30:48 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170402m [env.py: 870] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:30:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:30:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23368866 -1.16574255 -0.17040173] yaw=-35.2deg [env.py: 1019] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12957345 -1.02167614 -0.17040173] yaw=-42.2deg [env.py: 1019] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=498.0ms, total=498.0ms [env.py: 1075] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -1.166, -0.170) [env.py: 1079] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg [env.py: 1082] +05/12 09:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 09:30:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:50 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.613s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.450[m] 59.716[deg] [grasp_sample.py: 539] +05/12 09:30:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:30:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:30:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.969s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:30:55 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.703[m] 93.176[deg] [grasp_sample.py: 539] +05/12 09:30:55 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:30:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:30:55 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 09:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:56 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:30:56 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 09:30:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:30:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:30:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182506m [env.py: 870] +05/12 09:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48806727 -0.76985215 -0.18250586] yaw=-56.9deg [env.py: 1019] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48351554 -0.82438618 -0.18250586] yaw=-51.6deg [env.py: 1019] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:30:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=231.9ms, total=232.0ms [env.py: 1075] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.770, -0.183) [env.py: 1079] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 09:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 09:30:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:30:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:30:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:30:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:30:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:30:58 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 09:30:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:30:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:30:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:30:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.558s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:31:00 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113315m [env.py: 870] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1680749 -0.96511721 -0.11331518] yaw=-46.9deg [env.py: 1019] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.7ms, total=190.7ms [env.py: 1075] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -0.965, -0.113) [env.py: 1079] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 09:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:01 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.558s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:31:03 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:31:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:31:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193986m [env.py: 870] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31907724 -0.91836807 -0.19398647] yaw=-53.0deg [env.py: 1019] +05/12 09:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms [env.py: 1075] +05/12 09:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -0.918, -0.194) [env.py: 1079] +05/12 09:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 09:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 09:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:05 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.754s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.450[m] 59.717[deg] [grasp_sample.py: 539] +05/12 09:31:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:31:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:31:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:31:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:31:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.34s (batch: 3.38s, save: 8.97s) [pipeline.py: 300] +05/12 09:31:08 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s: + episode_total: mean=150.58s, total=150.58s, count=1, min=150583.7ms, max=150583.7ms + sensor_polling: mean=401.9ms, total=106.91s, count=266, min=319.8ms, max=642.3ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8965.1ms, max=8965.1ms + physics_step: mean=24.7ms, total=6.57s, count=266, min=17.8ms, max=95.6ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3377.1ms, max=3377.1ms + task_sampling: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms + task_specific_sample: mean=493.6ms, total=493.6ms, count=1, min=493.6ms, max=493.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=424.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126110m [env.py: 870] +05/12 09:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33472534 -0.9649334 -0.12610987] yaw=-54.6deg [env.py: 1019] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53661695 -0.8324048 -0.12610987] yaw=-69.2deg [env.py: 1019] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=200.0ms [env.py: 1075] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.965, -0.126) [env.py: 1079] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 09:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 09:31:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:10 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.319s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:10 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.752[m] 94.266[deg] [grasp_sample.py: 539] +05/12 09:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:11 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188956m [env.py: 870] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28887357 -1.20993505 -0.18895563] yaw=-32.7deg [env.py: 1019] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=462.4ms, total=462.4ms [env.py: 1075] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.210, -0.189) [env.py: 1079] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg [env.py: 1082] +05/12 09:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:13 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.796s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.589[m] 82.908[deg] [grasp_sample.py: 539] +05/12 09:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.646s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:16 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.798[m] 90.690[deg] [grasp_sample.py: 539] +05/12 09:31:16 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:31:17 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:31:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:31:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:31:17 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:31:17 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=1.87s: + episode_total: mean=34.40s, total=172.00s, count=5, min=248.8ms, max=96107.9ms + sensor_polling: mean=336.0ms, total=77.28s, count=230, min=295.5ms, max=644.1ms + physics_step: mean=20.5ms, total=4.72s, count=230, min=13.3ms, max=31.2ms + task_specific_sample: mean=482.4ms, total=2.41s, count=5, min=244.5ms, max=932.4ms + task_sampling: mean=622.6ms, total=1.87s, count=3, min=434.9ms, max=936.0ms + task_sampling_failed: mean=279.6ms, total=559.3ms, count=2, min=248.7ms, max=310.5ms + scene_randomize: mean=1.4ms, total=6.9ms, count=5, min=1.0ms, max=2.4ms + mj_forward_sync: mean=451.2us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:31:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102592m [env.py: 870] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56800339 -1.02025786 -0.10259163] yaw=-73.1deg [env.py: 1019] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61667479 -0.77123135 -0.10259163] yaw=-75.7deg [env.py: 1019] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66505157 -0.92062677 -0.10259163] yaw=-71.1deg [env.py: 1019] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.5ms [env.py: 1075] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -1.020, -0.103) [env.py: 1079] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg [env.py: 1082] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:18 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123404m [env.py: 870] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15435246 -1.00963343 -0.12340444] yaw=-38.9deg [env.py: 1019] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=196.2ms, total=196.3ms [env.py: 1075] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -1.010, -0.123) [env.py: 1079] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg [env.py: 1082] +05/12 09:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:19 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179857m [env.py: 870] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=300.5ms, total=300.5ms [env.py: 1105] +05/12 09:31:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:31:19 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:31:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166259m [env.py: 870] +05/12 09:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59443493 -0.81144812 -0.16625932] yaw=-64.8deg [env.py: 1019] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms [env.py: 1075] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.811, -0.166) [env.py: 1079] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 09:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 09:31:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.830s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:31:21 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:31:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:21 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.321s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.635[m] 90.134[deg] [grasp_sample.py: 539] +05/12 09:31:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159162m [env.py: 870] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24760894 -1.00944499 -0.15916222] yaw=-36.6deg [env.py: 1019] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=223.8ms, total=223.8ms [env.py: 1075] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.248, -1.009, -0.159) [env.py: 1079] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.6 deg [env.py: 1082] +05/12 09:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:22 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.402s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.754[m] 81.031[deg] [grasp_sample.py: 539] +05/12 09:31:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:31:23 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:31:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:31:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:31:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149166m [env.py: 870] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25694884 -0.97244794 -0.14916597] yaw=-55.9deg [env.py: 1019] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.6ms, total=211.6ms [env.py: 1075] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -0.972, -0.149) [env.py: 1079] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/12 09:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:24 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.102s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:28 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:31:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.650s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:28 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.734[m] 85.193[deg] [grasp_sample.py: 539] +05/12 09:31:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:31:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:31:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112277m [env.py: 870] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.3ms [env.py: 1105] +05/12 09:31:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:31:29 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:31:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:31:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160271m [env.py: 870] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20281986 -1.13419082 -0.16027092] yaw=-42.1deg [env.py: 1019] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.9ms [env.py: 1075] +05/12 09:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.203, -1.134, -0.160) [env.py: 1079] +05/12 09:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/12 09:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 09:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:31 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.033s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:36 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.729[m] 89.248[deg] [grasp_sample.py: 539] +05/12 09:31:37 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:31:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113268m [env.py: 870] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52744989 -0.77329076 -0.11326774] yaw=-68.0deg [env.py: 1019] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.3ms, total=204.4ms [env.py: 1075] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.773, -0.113) [env.py: 1079] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 09:31:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:39 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:31:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:31:40 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:31:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176041m [env.py: 870] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26492683 -1.08102792 -0.17604127] yaw=-41.1deg [env.py: 1019] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23828154 -0.89780837 -0.17604127] yaw=-47.1deg [env.py: 1019] +05/12 09:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=284.1ms, total=284.2ms [env.py: 1075] +05/12 09:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.081, -0.176) [env.py: 1079] +05/12 09:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg [env.py: 1082] +05/12 09:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/12 09:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:42 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.902s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:44 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.734[m] 94.123[deg] [grasp_sample.py: 539] +05/12 09:31:45 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:31:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:31:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:31:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:31:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:31:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:31:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132371m [env.py: 870] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:31:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54149009 -0.82840482 -0.13237107] yaw=-64.6deg [env.py: 1019] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:31:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms [env.py: 1075] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.828, -0.132) [env.py: 1079] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 09:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:31:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:31:47 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 09:31:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:31:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:31:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:31:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.829s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:31:54 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.798[m] 89.557[deg] [grasp_sample.py: 539] +05/12 09:31:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:31:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:31:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:31:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:32:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:32:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:32:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:32:24 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:32:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.060s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:32:25 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.128[m] 5.696[deg] [grasp_sample.py: 539] +05/12 09:32:26 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:32:26 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 09:32:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:32:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:32:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:32:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:32:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:32:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166280m [env.py: 870] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:32:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.7ms, total=201.7ms [env.py: 1105] +05/12 09:32:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:32:27 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:32:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:32:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111227m [env.py: 870] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65837571 -0.95708567 -0.11122654] yaw=-72.6deg [env.py: 1019] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1749119 -1.02918552 -0.11122654] yaw=-51.9deg [env.py: 1019] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16992674 -1.04053502 -0.11122654] yaw=-43.6deg [env.py: 1019] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:32:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.4ms, total=161.5ms [env.py: 1075] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.658, -0.957, -0.111) [env.py: 1079] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 09:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:32:29 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 09:32:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 09:32:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:32:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:32:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:32:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:32:31 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.693[m] 91.871[deg] [grasp_sample.py: 539] +05/12 09:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:32:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:32:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:32:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:32:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:32:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:32:43 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 09:32:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:32:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:32:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:32:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:32:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:32:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:32:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:32:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:32:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:32:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:32:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:32:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.87s (batch: 3.98s, save: 9.89s) [pipeline.py: 300] +05/12 09:32:58 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=2.99s: + episode_total: mean=17.06s, total=170.58s, count=10, min=196.9ms, max=137907.5ms + sensor_polling: mean=340.3ms, total=91.53s, count=269, min=303.7ms, max=600.1ms + save_trajectories: mean=9.89s, total=9.89s, count=1, min=9887.2ms, max=9887.2ms + physics_step: mean=23.1ms, total=6.20s, count=269, min=14.7ms, max=92.3ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.8ms, max=3979.8ms + task_specific_sample: mean=358.6ms, total=3.59s, count=10, min=194.0ms, max=483.1ms + task_sampling: mean=426.9ms, total=2.99s, count=7, min=395.2ms, max=485.7ms + task_sampling_failed: mean=207.8ms, total=623.3ms, count=3, min=196.9ms, max=218.2ms + scene_randomize: mean=1.1ms, total=10.5ms, count=10, min=0.9ms, max=1.6ms + mj_forward_sync: mean=399.9us, total=4.0ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:32:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:32:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:32:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:32:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:32:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114565m [env.py: 870] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=486.1ms, total=486.2ms [env.py: 1105] +05/12 09:32:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:32:59 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:33:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:00 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.584[m] 67.690[deg] [grasp_sample.py: 539] +05/12 09:33:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:33:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:33:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:33:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153420m [env.py: 870] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:33:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=427.6ms, total=427.7ms [env.py: 1105] +05/12 09:33:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:33:01 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:33:02 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:33:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:33:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:33:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:33:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188153m [env.py: 870] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:33:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31426747 -1.21133133 -0.188153 ] yaw=-29.0deg [env.py: 1019] +05/12 09:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:03 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.156[m] 10.594[deg] [grasp_sample.py: 539] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:33:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=319.2ms, total=319.2ms [env.py: 1075] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -1.211, -0.188) [env.py: 1079] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.0 deg [env.py: 1082] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:33:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:33:03 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 09:33:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 09:33:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:33:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:33:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:33:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191841m [env.py: 870] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:33:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:33:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2650499 -1.17416579 -0.19184055] yaw=-28.4deg [env.py: 1019] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:33:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:33:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.174, -0.192) [env.py: 1079] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.4 deg [env.py: 1082] +05/12 09:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:33:04 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 09:33:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:33:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:05 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.655[m] 80.682[deg] [grasp_sample.py: 539] +05/12 09:33:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.909s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.606[m] 91.818[deg] [grasp_sample.py: 539] +05/12 09:33:06 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:33:07 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:33:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:33:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:33:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195075m [env.py: 870] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:33:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64181751 -0.9297297 -0.19507458] yaw=-60.9deg [env.py: 1019] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4507559 -0.91592297 -0.19507458] yaw=-52.4deg [env.py: 1019] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54770563 -0.94827759 -0.19507458] yaw=-68.3deg [env.py: 1019] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:33:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=404.1ms, total=404.1ms [env.py: 1075] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.642, -0.930, -0.195) [env.py: 1079] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:33:08 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 09:33:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:33:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:33:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:33:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:33:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109456m [env.py: 870] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:33:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.65667826 -0.98506243 -0.10945627] yaw=-77.1deg [env.py: 1019] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:33:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=206.9ms [env.py: 1075] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.657, -0.985, -0.109) [env.py: 1079] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.1 deg [env.py: 1082] +05/12 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:33:09 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 09:33:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:33:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.987s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.618[m] 87.819[deg] [grasp_sample.py: 539] +05/12 09:33:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:33:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:33:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.594s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.665[m] 91.047[deg] [grasp_sample.py: 539] +05/12 09:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:12 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:33:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:33:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:33:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169165m [env.py: 870] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:33:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59247984 -0.84123629 -0.16916519] yaw=-57.3deg [env.py: 1019] +05/12 09:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:33:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.1ms [env.py: 1075] +05/12 09:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.841, -0.169) [env.py: 1079] +05/12 09:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/12 09:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 09:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:33:14 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 09:33:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:33:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:33:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:33:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.445s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.766[m] 85.116[deg] [grasp_sample.py: 539] +05/12 09:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:33:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:33:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.050s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:25 INFO: [Worker 0] Feasible grasp found 387 (originally 387): w/ 0.193[m] 12.703[deg] [grasp_sample.py: 539] +05/12 09:33:26 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:33:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:33:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:33:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:33:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:33:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:33:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159496m [env.py: 870] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:33:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33716197 -0.93973077 -0.15949617] yaw=-62.2deg [env.py: 1019] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:33:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=307.7ms, total=307.8ms [env.py: 1075] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -0.940, -0.159) [env.py: 1079] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/12 09:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:33:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:33:28 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 09:33:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:33:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:33:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:33:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:33:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:33:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.790[m] 85.425[deg] [grasp_sample.py: 539] +05/12 09:33:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:33:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:33:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:33:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:33:34 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:33:55 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:33:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:33:55 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 09:34:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:34:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:34:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:34:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.74s (batch: 3.54s, save: 9.20s) [pipeline.py: 300] +05/12 09:34:08 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=1.41s: + episode_total: mean=58.80s, total=176.40s, count=3, min=2508.7ms, max=166442.4ms + sensor_polling: mean=400.4ms, total=113.71s, count=284, min=326.0ms, max=598.5ms + save_trajectories: mean=9.20s, total=9.20s, count=1, min=9200.7ms, max=9200.7ms + physics_step: mean=24.5ms, total=6.96s, count=284, min=19.8ms, max=58.1ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3544.1ms, max=3544.1ms + task_sampling: mean=469.7ms, total=1.41s, count=3, min=448.5ms, max=504.5ms + task_specific_sample: mean=466.8ms, total=1.40s, count=3, min=446.2ms, max=501.0ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=410.8us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143264m [env.py: 870] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55999977 -0.73364394 -0.14326369] yaw=-73.0deg [env.py: 1019] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:34:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.560, -0.734, -0.143) [env.py: 1079] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.0 deg [env.py: 1082] +05/12 09:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:34:10 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 09:34:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 09:34:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.374s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:34:12 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115322m [env.py: 870] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.5ms, total=220.6ms [env.py: 1105] +05/12 09:34:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:34:13 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:34:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129618m [env.py: 870] +05/12 09:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.3ms, total=196.3ms [env.py: 1105] +05/12 09:34:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:34:15 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:34:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132153m [env.py: 870] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=253.4ms, total=253.4ms [env.py: 1105] +05/12 09:34:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:34:16 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:34:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173216m [env.py: 870] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07479531 -1.0747161 -0.17321623] yaw=-26.6deg [env.py: 1019] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:34:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=240.8ms, total=240.9ms [env.py: 1075] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -1.075, -0.173) [env.py: 1079] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.6 deg [env.py: 1082] +05/12 09:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:34:18 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 09:34:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 09:34:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:34:20 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:34:20 INFO: [Worker 0] Object is not in grasp! 0.00163 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:34:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:34:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110066m [env.py: 870] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44216802 -0.99013994 -0.11006578] yaw=-51.6deg [env.py: 1019] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:34:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1075] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -0.990, -0.110) [env.py: 1079] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 09:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:34:21 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 09:34:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 09:34:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:34:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:22 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.067[m] 5.461[deg] [grasp_sample.py: 539] +05/12 09:34:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:34:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:34:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.589s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.691[m] 88.219[deg] [grasp_sample.py: 539] +05/12 09:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:34:24 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:34:24 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 09:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:34:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175272m [env.py: 870] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24197787 -1.02109186 -0.1752718 ] yaw=-49.0deg [env.py: 1019] +05/12 09:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.4ms, total=208.4ms [env.py: 1075] +05/12 09:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.021, -0.175) [env.py: 1079] +05/12 09:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/12 09:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 09:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:34:26 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 09:34:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:34:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:34:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.463s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:27 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.726[m] 82.851[deg] [grasp_sample.py: 539] +05/12 09:34:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:34:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:34:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:34:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:34:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:34:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 510 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.084s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:37 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.099[m] 15.488[deg] [grasp_sample.py: 539] +05/12 09:34:38 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:34:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142240m [env.py: 870] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5175758 -1.02897015 -0.14223963] yaw=-62.2deg [env.py: 1019] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19627818 -1.03703561 -0.14223963] yaw=-37.8deg [env.py: 1019] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:34:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=293.6ms, total=293.7ms [env.py: 1075] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -1.029, -0.142) [env.py: 1079] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/12 09:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:34:40 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 09:34:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:34:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.618s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.657[m] 78.519[deg] [grasp_sample.py: 539] +05/12 09:34:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:34:42 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140400m [env.py: 870] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=396.8ms, total=396.9ms [env.py: 1105] +05/12 09:34:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:34:44 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:34:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186024m [env.py: 870] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.0ms, total=203.0ms [env.py: 1105] +05/12 09:34:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:34:45 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:34:46 INFO: [Worker 0] Object is not in grasp! 0.00117 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:34:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:34:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 393 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:34:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:34:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:34:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:34:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:34:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139153m [env.py: 870] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:34:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66435845 -0.98358522 -0.13915251] yaw=-77.7deg [env.py: 1019] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:34:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=292.0ms, total=292.0ms [env.py: 1075] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.664, -0.984, -0.139) [env.py: 1079] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg [env.py: 1082] +05/12 09:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:34:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:34:47 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 09:34:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:34:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:34:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:34:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:34:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.641s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.591[m] 92.208[deg] [grasp_sample.py: 539] +05/12 09:34:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:34:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:34:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.283s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:34:51 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.075[m] 2.583[deg] [grasp_sample.py: 539] +05/12 09:34:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:34:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:34:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:34:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:35:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:35:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.688s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.457[m] 65.996[deg] [grasp_sample.py: 539] +05/12 09:35:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:13 INFO: [Worker 0] Object is not in grasp! 0.00192 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:35:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:35:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 423 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.403s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:14 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.070[m] 2.508[deg] [grasp_sample.py: 539] +05/12 09:35:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:16 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:35:16 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=1.94s: + episode_total: mean=38.43s, total=230.60s, count=6, min=210.4ms, max=128468.3ms + sensor_polling: mean=352.3ms, total=171.91s, count=488, min=301.6ms, max=729.9ms + physics_step: mean=22.8ms, total=11.11s, count=488, min=14.8ms, max=46.3ms + task_specific_sample: mean=407.1ms, total=2.44s, count=6, min=206.5ms, max=619.9ms + task_sampling: mean=485.5ms, total=1.94s, count=4, min=392.8ms, max=622.5ms + task_sampling_failed: mean=260.1ms, total=520.2ms, count=2, min=210.4ms, max=309.8ms + scene_randomize: mean=1.1ms, total=6.8ms, count=6, min=1.0ms, max=1.3ms + mj_forward_sync: mean=448.0us, total=2.7ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146102m [env.py: 870] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29423083 -1.14644479 -0.14610175] yaw=-45.4deg [env.py: 1019] +05/12 09:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.0ms, total=211.0ms [env.py: 1075] +05/12 09:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -1.146, -0.146) [env.py: 1079] +05/12 09:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 09:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 09:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:35:18 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 09:35:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.438s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.715[m] 84.289[deg] [grasp_sample.py: 539] +05/12 09:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:20 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191344m [env.py: 870] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41319498 -0.77781092 -0.19134436] yaw=-56.0deg [env.py: 1019] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24110315 -0.89596473 -0.19134436] yaw=-53.5deg [env.py: 1019] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.4ms [env.py: 1075] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.778, -0.191) [env.py: 1079] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 09:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:35:22 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 09:35:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:35:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:35:24 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:35:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.732s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.457[m] 65.998[deg] [grasp_sample.py: 539] +05/12 09:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144594m [env.py: 870] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5660107 -0.76749933 -0.14459412] yaw=-79.5deg [env.py: 1019] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.1ms, total=199.1ms [env.py: 1075] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.767, -0.145) [env.py: 1079] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.5 deg [env.py: 1082] +05/12 09:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:35:25 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 09:35:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.330s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:35:27 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195006m [env.py: 870] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48837867 -0.92311419 -0.19500623] yaw=-65.0deg [env.py: 1019] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=399.8ms, total=399.9ms [env.py: 1075] +05/12 09:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.923, -0.195) [env.py: 1079] +05/12 09:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 09:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 09:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:35:29 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 09:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.390s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.655[m] 88.679[deg] [grasp_sample.py: 539] +05/12 09:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:31 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:35:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:31 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186216m [env.py: 870] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54023295 -1.0065414 -0.18621552] yaw=-68.6deg [env.py: 1019] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=220.4ms, total=220.4ms [env.py: 1075] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -1.007, -0.186) [env.py: 1079] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg [env.py: 1082] +05/12 09:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:35:33 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 09:35:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.613[m] 99.623[deg] [grasp_sample.py: 539] +05/12 09:35:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:35:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:35:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.660s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:37 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.457[m] 65.998[deg] [grasp_sample.py: 539] +05/12 09:35:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:35:49 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:35:49 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:35:49 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=False episode_total=2.47s: + episode_total: mean=17.76s, total=159.86s, count=9, min=213.1ms, max=85061.1ms + sensor_polling: mean=368.4ms, total=83.26s, count=226, min=300.6ms, max=733.5ms + physics_step: mean=22.1ms, total=4.99s, count=226, min=13.0ms, max=49.1ms + task_specific_sample: mean=443.2ms, total=3.99s, count=9, min=209.6ms, max=552.1ms + task_sampling: mean=493.0ms, total=2.47s, count=5, min=413.0ms, max=554.4ms + task_sampling_failed: mean=389.5ms, total=1.56s, count=4, min=213.1ms, max=503.8ms + scene_randomize: mean=1.3ms, total=11.5ms, count=9, min=0.9ms, max=2.6ms + mj_forward_sync: mean=436.0us, total=3.9ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=12.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:35:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138721m [env.py: 870] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=349.0ms, total=349.1ms [env.py: 1105] +05/12 09:35:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:35:51 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129518m [env.py: 870] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41217046 -1.09267525 -0.1295176 ] yaw=-51.4deg [env.py: 1019] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26528114 -0.99634137 -0.1295176 ] yaw=-52.6deg [env.py: 1019] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28147064 -1.16582621 -0.1295176 ] yaw=-31.7deg [env.py: 1019] +05/12 09:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.5ms, total=264.6ms [env.py: 1075] +05/12 09:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -1.093, -0.130) [env.py: 1079] +05/12 09:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/12 09:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 09:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:35:53 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 09:35:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:54 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:35:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:35:54 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/12 09:35:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:54 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.667[m] 84.548[deg] [grasp_sample.py: 539] +05/12 09:35:55 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:35:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:35:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:35:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:35:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:35:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160053m [env.py: 870] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:35:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50202992 -0.91362876 -0.1600534 ] yaw=-52.2deg [env.py: 1019] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:35:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.7ms [env.py: 1075] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -0.914, -0.160) [env.py: 1079] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 09:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:35:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:35:57 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 09:35:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 09:35:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:58 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:35:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:35:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:35:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:35:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 09:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:35:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.575s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:35:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.768[m] 89.981[deg] [grasp_sample.py: 539] +05/12 09:35:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:35:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:35:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.628s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.039[m] 1.304[deg] [grasp_sample.py: 539] +05/12 09:36:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:36:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:36:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:36:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:36:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.408s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.468[m] 70.251[deg] [grasp_sample.py: 539] +05/12 09:36:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:36:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:36:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:36:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:36:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.12s (batch: 3.94s, save: 10.18s) [pipeline.py: 300] +05/12 09:36:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:09 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=6.69s: + episode_total: mean=20.63s, total=309.48s, count=15, min=203.3ms, max=161477.1ms + sensor_polling: mean=345.9ms, total=158.07s, count=457, min=293.9ms, max=634.1ms + physics_step: mean=22.4ms, total=10.26s, count=457, min=15.1ms, max=54.1ms + save_trajectories: mean=10.18s, total=10.18s, count=1, min=10180.5ms, max=10180.5ms + task_specific_sample: mean=456.9ms, total=6.85s, count=15, min=200.1ms, max=706.0ms + task_sampling: mean=477.6ms, total=6.69s, count=14, min=399.9ms, max=708.3ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.2ms, max=3936.2ms + task_sampling_failed: mean=203.3ms, total=203.3ms, count=1, min=203.3ms, max=203.3ms + scene_randomize: mean=1.2ms, total=17.5ms, count=15, min=1.0ms, max=2.5ms + mj_forward_sync: mean=413.8us, total=6.2ms, count=15, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.2ms, count=14, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180682m [env.py: 870] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52009553 -0.86308709 -0.18068208] yaw=-66.6deg [env.py: 1019] +05/12 09:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.9ms, total=230.0ms [env.py: 1075] +05/12 09:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.863, -0.181) [env.py: 1079] +05/12 09:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/12 09:36:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 09:36:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:11 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.046s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.723[m] 88.005[deg] [grasp_sample.py: 539] +05/12 09:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:13 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186925m [env.py: 870] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.1ms, total=194.1ms [env.py: 1105] +05/12 09:36:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:14 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:36:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:36:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113446m [env.py: 870] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=240.0ms, total=240.0ms [env.py: 1105] +05/12 09:36:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:16 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103340m [env.py: 870] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:17 INFO: [Worker 0] Object is not in grasp! 0.00132 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:36:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:36:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35325681 -1.00666173 -0.10334025] yaw=-59.0deg [env.py: 1019] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 348 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=221.1ms, total=221.2ms [env.py: 1075] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -1.007, -0.103) [env.py: 1079] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 09:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:18 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.933s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:20 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.051[m] 8.884[deg] [grasp_sample.py: 539] +05/12 09:36:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:36:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:36:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.935s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:22 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.483[m] 72.350[deg] [grasp_sample.py: 539] +05/12 09:36:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:23 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:36:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101079m [env.py: 870] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46726742 -1.03649393 -0.10107882] yaw=-46.7deg [env.py: 1019] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.8ms [env.py: 1075] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -1.036, -0.101) [env.py: 1079] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/12 09:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:25 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.016s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.703[m] 87.374[deg] [grasp_sample.py: 539] +05/12 09:36:28 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:36:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.823s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:29 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.736[m] 85.108[deg] [grasp_sample.py: 539] +05/12 09:36:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168465m [env.py: 870] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.2ms, total=198.2ms [env.py: 1105] +05/12 09:36:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:36:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121194m [env.py: 870] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115060m [env.py: 870] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14748653 -1.0976734 -0.1211945 ] yaw=-44.6deg [env.py: 1019] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=488.0ms, total=488.1ms [env.py: 1075] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.147, -1.098, -0.121) [env.py: 1079] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 09:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 09:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=585.7ms, total=585.7ms [env.py: 1105] +05/12 09:36:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:32 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:32 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:36:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199893m [env.py: 870] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51586772 -0.78145888 -0.19989313] yaw=-63.2deg [env.py: 1019] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23142287 -1.0599824 -0.19989313] yaw=-31.8deg [env.py: 1019] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=207.9ms [env.py: 1075] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -0.781, -0.200) [env.py: 1079] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg [env.py: 1082] +05/12 09:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:36:33 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:36:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:33 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189392m [env.py: 870] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32426985 -0.91741304 -0.18939166] yaw=-58.2deg [env.py: 1019] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=242.5ms, total=242.6ms [env.py: 1075] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -0.917, -0.189) [env.py: 1079] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 09:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:35 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.754[m] 78.403[deg] [grasp_sample.py: 539] +05/12 09:36:39 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:36:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188001m [env.py: 870] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.9ms, total=208.0ms [env.py: 1105] +05/12 09:36:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:40 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160795m [env.py: 870] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39115374 -0.89005402 -0.16079467] yaw=-58.3deg [env.py: 1019] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.8ms, total=208.9ms [env.py: 1075] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.890, -0.161) [env.py: 1079] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 09:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:42 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:43 INFO: [Worker 0] Object is not in grasp! 0.00107 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:36:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:36:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 404 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.695s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:48 INFO: [Worker 0] Feasible grasp found 397 (originally 397): w/ 0.051[m] 22.264[deg] [grasp_sample.py: 539] +05/12 09:36:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:36:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:36:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:49 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:36:49 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=False episode_total=1.72s: + episode_total: mean=21.67s, total=151.66s, count=7, min=204.3ms, max=143741.3ms + sensor_polling: mean=382.7ms, total=114.81s, count=300, min=317.4ms, max=798.8ms + physics_step: mean=23.1ms, total=6.94s, count=300, min=14.8ms, max=95.1ms + task_specific_sample: mean=341.6ms, total=2.39s, count=7, min=201.1ms, max=443.8ms + task_sampling: mean=429.2ms, total=1.72s, count=4, min=409.4ms, max=446.4ms + task_sampling_failed: mean=231.6ms, total=694.9ms, count=3, min=204.3ms, max=261.4ms + scene_randomize: mean=1.2ms, total=8.4ms, count=7, min=0.9ms, max=1.7ms + mj_forward_sync: mean=402.9us, total=2.8ms, count=7, min=0.4ms, max=0.5ms + policy_setup: mean=12.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:36:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.767s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:50 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.787[m] 92.759[deg] [grasp_sample.py: 539] +05/12 09:36:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105004m [env.py: 870] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24617937 -1.06364879 -0.10500375] yaw=-32.3deg [env.py: 1019] +05/12 09:36:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.6ms, total=202.6ms [env.py: 1075] +05/12 09:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -1.064, -0.105) [env.py: 1079] +05/12 09:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg [env.py: 1082] +05/12 09:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/12 09:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:51 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:51 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:36:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.255s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:36:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167711m [env.py: 870] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49967688 -0.80044998 -0.16771088] yaw=-59.8deg [env.py: 1019] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5083505 -0.89546661 -0.16771088] yaw=-55.4deg [env.py: 1019] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16427773 -1.01385881 -0.16771088] yaw=-31.1deg [env.py: 1019] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.5ms [env.py: 1075] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -0.800, -0.168) [env.py: 1079] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:53 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176196m [env.py: 870] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1105] +05/12 09:36:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:53 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.186s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:36:54 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.781[m] 89.432[deg] [grasp_sample.py: 539] +05/12 09:36:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:36:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:36:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:36:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118408m [env.py: 870] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.5ms, total=212.5ms [env.py: 1105] +05/12 09:36:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:55 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:36:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183079m [env.py: 870] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.9ms, total=201.9ms [env.py: 1105] +05/12 09:36:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:36:57 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:36:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:36:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:36:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:36:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:36:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:36:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137428m [env.py: 870] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:36:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28533547 -0.93202893 -0.1374283 ] yaw=-54.6deg [env.py: 1019] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:36:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -0.932, -0.137) [env.py: 1079] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 09:36:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:36:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:36:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:36:58 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 09:36:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 09:36:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:36:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:36:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:36:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:37:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.351s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:37:00 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:37:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169855m [env.py: 870] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.4ms, total=206.5ms [env.py: 1105] +05/12 09:37:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:37:01 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:37:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:37:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188726m [env.py: 870] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.9ms, total=203.9ms [env.py: 1105] +05/12 09:37:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:37:03 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:37:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183096m [env.py: 870] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56896222 -0.80862071 -0.18309568] yaw=-66.4deg [env.py: 1019] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=481.5ms, total=481.5ms [env.py: 1075] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.809, -0.183) [env.py: 1079] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg [env.py: 1082] +05/12 09:37:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.158s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:04 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:37:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:04 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:37:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181898m [env.py: 870] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48744954 -0.80619366 -0.18189831] yaw=-65.4deg [env.py: 1019] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34670781 -0.97990359 -0.18189831] yaw=-40.4deg [env.py: 1019] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56402964 -0.93685616 -0.18189831] yaw=-65.4deg [env.py: 1019] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.6ms, total=115.6ms [env.py: 1075] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -0.806, -0.182) [env.py: 1079] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 09:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:06 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.152s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.114[m] 35.929[deg] [grasp_sample.py: 539] +05/12 09:37:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.006s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:09 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.730[m] 81.789[deg] [grasp_sample.py: 539] +05/12 09:37:09 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:37:10 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194045m [env.py: 870] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.6ms, total=208.6ms [env.py: 1105] +05/12 09:37:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:37:10 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:37:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121171m [env.py: 870] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28184193 -0.89755155 -0.12117111] yaw=-45.8deg [env.py: 1019] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=277.5ms, total=277.6ms [env.py: 1075] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -0.898, -0.121) [env.py: 1079] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/12 09:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:12 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193424m [env.py: 870] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43137224 -0.91778848 -0.1934242 ] yaw=-49.8deg [env.py: 1019] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.2ms, total=211.2ms [env.py: 1075] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.431, -0.918, -0.193) [env.py: 1079] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 09:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.297s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:12 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:37:13 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:37:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182432m [env.py: 870] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47461643 -1.03663997 -0.18243235] yaw=-48.0deg [env.py: 1019] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49142902 -0.8494329 -0.18243235] yaw=-61.1deg [env.py: 1019] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.8ms, total=205.8ms [env.py: 1075] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -1.037, -0.182) [env.py: 1079] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg [env.py: 1082] +05/12 09:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:15 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.760s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:15 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.754[m] 79.344[deg] [grasp_sample.py: 539] +05/12 09:37:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.618[m] 84.971[deg] [grasp_sample.py: 539] +05/12 09:37:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:37:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:37:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:37:16 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:37:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194684m [env.py: 870] +05/12 09:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21462063 -1.06758265 -0.19468363] yaw=-50.9deg [env.py: 1019] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26199494 -1.08006432 -0.19468363] yaw=-49.6deg [env.py: 1019] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.3ms, total=221.3ms [env.py: 1075] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -1.068, -0.195) [env.py: 1079] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/12 09:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 09:37:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:18 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.057s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:21 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.723[m] 86.080[deg] [grasp_sample.py: 539] +05/12 09:37:22 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:37:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142130m [env.py: 870] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46241715 -0.91401799 -0.14212991] yaw=-62.5deg [env.py: 1019] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24525169 -1.07723891 -0.14212991] yaw=-37.5deg [env.py: 1019] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms [env.py: 1075] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -0.914, -0.142) [env.py: 1079] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 09:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:24 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.205s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:25 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.718[m] 83.440[deg] [grasp_sample.py: 539] +05/12 09:37:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.384s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:26 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.699[m] 90.499[deg] [grasp_sample.py: 539] +05/12 09:37:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:37:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:37:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:37:26 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:37:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146609m [env.py: 870] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=473.5ms, total=473.5ms [env.py: 1105] +05/12 09:37:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:37:28 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:37:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125677m [env.py: 870] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22487114 -1.17447367 -0.12567667] yaw=-38.2deg [env.py: 1019] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36171081 -0.90333625 -0.12567667] yaw=-47.1deg [env.py: 1019] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=496.0ms, total=496.1ms [env.py: 1075] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.225, -1.174, -0.126) [env.py: 1079] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/12 09:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:30 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.147s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:43 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.712[m] 90.097[deg] [grasp_sample.py: 539] +05/12 09:37:44 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:37:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151107m [env.py: 870] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13424476 -1.08609195 -0.15110723] yaw=-30.7deg [env.py: 1019] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=413.1ms, total=413.2ms [env.py: 1075] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.134, -1.086, -0.151) [env.py: 1079] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.7 deg [env.py: 1082] +05/12 09:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 09:37:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:46 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.316s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:37:47 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:37:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166744m [env.py: 870] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19653764 -1.04308225 -0.16674357] yaw=-38.8deg [env.py: 1019] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms [env.py: 1075] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.043, -0.167) [env.py: 1079] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg [env.py: 1082] +05/12 09:37:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:49 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:37:55 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:37:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196278m [env.py: 870] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19209835 -0.9978378 -0.19627821] yaw=-35.0deg [env.py: 1019] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=209.0ms [env.py: 1075] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.192, -0.998, -0.196) [env.py: 1079] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.0 deg [env.py: 1082] +05/12 09:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:37:56 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 09:37:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:37:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:37:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:37:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:37:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:37:58 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:37:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:37:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:37:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:37:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:37:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:37:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:37:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156238m [env.py: 870] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:37:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22191769 -1.098017 -0.15623757] yaw=-33.1deg [env.py: 1019] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:37:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.4ms, total=215.4ms [env.py: 1075] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.098, -0.156) [env.py: 1079] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.1 deg [env.py: 1082] +05/12 09:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:38:00 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 09:38:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:38:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:03 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.758[m] 93.230[deg] [grasp_sample.py: 539] +05/12 09:38:04 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:38:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:38:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:38:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:38:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152064m [env.py: 870] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:38:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39645445 -1.10625357 -0.15206433] yaw=-47.5deg [env.py: 1019] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.65054457 -0.90870908 -0.15206433] yaw=-79.9deg [env.py: 1019] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:38:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.3ms, total=217.3ms [env.py: 1075] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -1.106, -0.152) [env.py: 1079] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 09:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:38:06 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 09:38:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:38:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.640s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:09 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.664[m] 84.802[deg] [grasp_sample.py: 539] +05/12 09:38:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:38:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:38:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:38:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:38:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:38:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:38:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:38:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:30 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.083[m] 17.565[deg] [grasp_sample.py: 539] +05/12 09:38:31 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:38:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:38:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:38:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:38:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152207m [env.py: 870] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:38:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50283586 -0.77504264 -0.15220686] yaw=-62.0deg [env.py: 1019] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49936765 -0.77822564 -0.15220686] yaw=-57.3deg [env.py: 1019] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:38:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=408.0ms, total=408.0ms [env.py: 1075] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.775, -0.152) [env.py: 1079] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 09:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:38:33 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 09:38:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:38:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.623s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:38:35 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:38:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:38:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:38:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:38:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125360m [env.py: 870] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:38:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34897025 -0.98828146 -0.12535957] yaw=-59.4deg [env.py: 1019] +05/12 09:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:38:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=289.3ms, total=289.3ms [env.py: 1075] +05/12 09:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -0.988, -0.125) [env.py: 1079] +05/12 09:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 09:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 09:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:38:37 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 09:38:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:38:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:49 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.786[m] 94.030[deg] [grasp_sample.py: 539] +05/12 09:38:50 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:38:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:38:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:38:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:38:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107838m [env.py: 870] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:38:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=401.7ms, total=401.8ms [env.py: 1105] +05/12 09:38:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:38:52 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:38:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:38:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:38:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:38:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:38:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:38:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123174m [env.py: 870] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:38:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:54 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32857998 -1.17254807 -0.12317352] yaw=-47.5deg [env.py: 1019] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:38:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.1ms [env.py: 1075] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.173, -0.123) [env.py: 1079] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 09:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:38:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:38:54 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 09:38:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:38:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:38:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:38:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:38:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:38:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.653[m] 87.861[deg] [grasp_sample.py: 539] +05/12 09:38:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:38:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:38:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:39:11 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:39:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:39:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:39:13 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 09:39:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:39:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:39:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.71s (batch: 2.92s, save: 10.79s) [pipeline.py: 300] +05/12 09:39:27 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=3.39s: + episode_total: mean=11.94s, total=179.11s, count=15, min=202.1ms, max=132716.3ms + sensor_polling: mean=347.7ms, total=89.70s, count=258, min=305.8ms, max=605.2ms + save_trajectories: mean=10.79s, total=10.79s, count=1, min=10787.2ms, max=10787.2ms + physics_step: mean=23.4ms, total=6.04s, count=258, min=14.9ms, max=128.1ms + task_specific_sample: mean=364.0ms, total=5.46s, count=15, min=198.7ms, max=699.4ms + task_sampling: mean=483.8ms, total=3.39s, count=7, min=409.5ms, max=701.5ms + save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2918.1ms, max=2918.1ms + task_sampling_failed: mean=264.3ms, total=2.11s, count=8, min=202.0ms, max=595.3ms + scene_randomize: mean=1.1ms, total=17.2ms, count=15, min=0.9ms, max=3.0ms + mj_forward_sync: mean=415.6us, total=6.2ms, count=15, min=0.4ms, max=0.6ms + policy_setup: mean=15.2us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:39:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:39:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:39:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:39:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168260m [env.py: 870] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22963247 -0.90603747 -0.16825958] yaw=-48.9deg [env.py: 1019] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.5ms, total=233.5ms [env.py: 1075] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -0.906, -0.168) [env.py: 1079] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 09:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:39:29 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 09:39:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 09:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:39:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:39:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:39:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.387s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:39:31 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:39:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:39:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:39:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:39:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:39:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:39:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:39:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173425m [env.py: 870] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:39:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=218.4ms, total=218.4ms [env.py: 1105] +05/12 09:39:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:39:32 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:39:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:39:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:39:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:39:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:39:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:39:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112386m [env.py: 870] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:39:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54524542 -0.89977302 -0.11238622] yaw=-66.3deg [env.py: 1019] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:39:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.1ms [env.py: 1075] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.545, -0.900, -0.112) [env.py: 1079] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 09:39:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:39:34 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 09:39:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 09:39:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:39:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:39:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:39:35 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:39:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:39:35 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 09:39:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.525s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:39:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.729[m] 92.998[deg] [grasp_sample.py: 539] +05/12 09:39:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:39:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:39:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:39:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:39:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.16s (batch: 3.63s, save: 10.53s) [pipeline.py: 300] +05/12 09:39:50 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.42s: + episode_total: mean=179.86s, total=179.86s, count=1, min=179858.2ms, max=179858.2ms + sensor_polling: mean=431.2ms, total=126.78s, count=294, min=322.0ms, max=1038.4ms + save_trajectories: mean=10.53s, total=10.53s, count=1, min=10526.9ms, max=10526.9ms + physics_step: mean=24.5ms, total=7.19s, count=294, min=15.1ms, max=64.5ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3629.8ms, max=3629.8ms + task_sampling: mean=420.6ms, total=420.6ms, count=1, min=420.6ms, max=420.6ms + task_specific_sample: mean=418.3ms, total=418.3ms, count=1, min=418.3ms, max=418.3ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=406.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:39:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:39:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:39:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106935m [env.py: 870] +05/12 09:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.2ms, total=186.3ms [env.py: 1105] +05/12 09:39:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:39:52 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:39:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:39:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:39:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:39:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:39:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165682m [env.py: 870] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:39:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46550917 -0.93880933 -0.16568237] yaw=-66.5deg [env.py: 1019] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64907082 -0.89640992 -0.16568237] yaw=-80.9deg [env.py: 1019] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.1ms, total=211.2ms [env.py: 1075] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.466, -0.939, -0.166) [env.py: 1079] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/12 09:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:39:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:39:53 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 09:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 09:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:39:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:39:54 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:39:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:39:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.690[m] 92.106[deg] [grasp_sample.py: 539] +05/12 09:39:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:39:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:39:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:39:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:40:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:40:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:40:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.727s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.575[m] 68.576[deg] [grasp_sample.py: 539] +05/12 09:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:40:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:40:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:12 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:40:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:40:12 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 09:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:40:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:40:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:40:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.312s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:19 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.572[m] 66.648[deg] [grasp_sample.py: 539] +05/12 09:40:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:40:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:40:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:40:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:40:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.00s (batch: 2.98s, save: 9.02s) [pipeline.py: 300] +05/12 09:40:25 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=8.62s: + episode_total: mean=13.40s, total=281.37s, count=21, min=208.0ms, max=139111.2ms + sensor_polling: mean=349.5ms, total=112.89s, count=323, min=293.2ms, max=675.4ms + task_specific_sample: mean=451.1ms, total=9.47s, count=21, min=203.9ms, max=777.2ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.2ms, max=9024.2ms + task_sampling: mean=478.9ms, total=8.62s, count=18, min=355.0ms, max=779.2ms + physics_step: mean=22.3ms, total=7.21s, count=323, min=14.2ms, max=56.9ms + save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2979.6ms, max=2979.6ms + task_sampling_failed: mean=302.8ms, total=908.3ms, count=3, min=208.0ms, max=484.8ms + scene_randomize: mean=1.1ms, total=23.2ms, count=21, min=0.9ms, max=1.7ms + mj_forward_sync: mean=444.9us, total=9.3ms, count=21, min=0.4ms, max=0.6ms + policy_setup: mean=13.0us, total=0.2ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=21, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:40:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:40:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:40:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138209m [env.py: 870] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:40:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16041741 -0.9816979 -0.13820894] yaw=-34.7deg [env.py: 1019] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54209598 -0.85370968 -0.13820894] yaw=-60.4deg [env.py: 1019] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:40:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=280.9ms, total=281.0ms [env.py: 1075] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -0.982, -0.138) [env.py: 1079] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg [env.py: 1082] +05/12 09:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:40:27 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 09:40:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 09:40:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:40:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:40:28 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:40:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:40:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:40:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122424m [env.py: 870] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:40:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=229.3ms, total=229.4ms [env.py: 1105] +05/12 09:40:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:40:30 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:40:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:40:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:40:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114242m [env.py: 870] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:40:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.8ms, total=202.8ms [env.py: 1105] +05/12 09:40:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:40:31 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:40:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:40:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:40:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:40:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:40:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:40:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:40:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127360m [env.py: 870] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:40:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58877098 -0.93211251 -0.1273599 ] yaw=-69.7deg [env.py: 1019] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:40:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.2ms, total=203.2ms [env.py: 1075] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.932, -0.127) [env.py: 1079] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg [env.py: 1082] +05/12 09:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:40:33 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 09:40:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 09:40:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:40:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.733s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.572[m] 66.648[deg] [grasp_sample.py: 539] +05/12 09:40:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:40:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:40:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:38 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:40:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:38 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.688[m] 85.037[deg] [grasp_sample.py: 539] +05/12 09:40:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:40:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:40:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:40:45 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:40:45 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=0.90s: + episode_total: mean=24.54s, total=73.62s, count=3, min=227.9ms, max=71336.3ms + sensor_polling: mean=347.2ms, total=26.04s, count=75, min=304.9ms, max=583.1ms + physics_step: mean=19.8ms, total=1.48s, count=75, min=13.3ms, max=28.8ms + task_specific_sample: mean=371.2ms, total=1.11s, count=3, min=224.1ms, max=471.0ms + task_sampling: mean=448.0ms, total=896.1ms, count=2, min=420.8ms, max=475.2ms + task_sampling_failed: mean=227.9ms, total=227.9ms, count=1, min=227.9ms, max=227.9ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=0.9ms, max=2.8ms + mj_forward_sync: mean=465.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=14.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:40:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:40:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:40:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:40:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159310m [env.py: 870] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:40:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.3ms, total=193.3ms [env.py: 1105] +05/12 09:40:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:40:47 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:40:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:40:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:40:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:40:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194398m [env.py: 870] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:40:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.9ms, total=210.0ms [env.py: 1105] +05/12 09:40:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:40:48 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:40:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:40:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:40:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:40:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:40:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:40:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:40:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116266m [env.py: 870] +05/12 09:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:40:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.67678132 -0.93511097 -0.11626624] yaw=-80.5deg [env.py: 1019] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:40:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.4ms, total=281.4ms [env.py: 1075] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.677, -0.935, -0.116) [env.py: 1079] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.5 deg [env.py: 1082] +05/12 09:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 09:40:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:40:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:40:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:40:50 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 09:40:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 09:40:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:40:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:40:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:40:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:40:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.673[m] 92.196[deg] [grasp_sample.py: 539] +05/12 09:40:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:40:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:40:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:40:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:40:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:40:58 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 09:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:41:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.411s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:09 INFO: [Worker 0] Feasible grasp found 528 (originally 528): w/ 0.259[m] 23.721[deg] [grasp_sample.py: 539] +05/12 09:41:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:41:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:41:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.45s (batch: 3.59s, save: 8.86s) [pipeline.py: 300] +05/12 09:41:10 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:41:11 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=3.36s: + episode_total: mean=30.84s, total=308.39s, count=10, min=217.0ms, max=137210.5ms + sensor_polling: mean=346.3ms, total=194.98s, count=563, min=292.8ms, max=604.9ms + physics_step: mean=22.7ms, total=12.80s, count=563, min=14.6ms, max=62.6ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8863.0ms, max=8863.0ms + task_specific_sample: mean=431.4ms, total=4.31s, count=10, min=213.6ms, max=632.9ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3589.5ms, max=3589.5ms + task_sampling: mean=479.6ms, total=3.36s, count=7, min=410.7ms, max=636.0ms + task_sampling_failed: mean=329.3ms, total=987.9ms, count=3, min=217.0ms, max=412.6ms + scene_randomize: mean=1.2ms, total=11.6ms, count=10, min=0.9ms, max=1.7ms + mj_forward_sync: mean=417.2us, total=4.2ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=13.6us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:41:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:41:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:41:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:41:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:41:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133725m [env.py: 870] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:41:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29103164 -1.04538273 -0.13372484] yaw=-50.7deg [env.py: 1019] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:41:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms [env.py: 1075] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.045, -0.134) [env.py: 1079] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:41:12 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 09:41:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:41:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:41:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:41:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:41:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:41:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111899m [env.py: 870] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:41:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:41:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43402607 -0.93862038 -0.11189937] yaw=-56.0deg [env.py: 1019] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:41:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.6ms [env.py: 1075] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -0.939, -0.112) [env.py: 1079] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 09:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:41:12 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 09:41:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 09:41:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:41:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:41:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.384s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.540[m] 69.446[deg] [grasp_sample.py: 539] +05/12 09:41:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:41:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:41:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.020s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:19 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.712[m] 79.832[deg] [grasp_sample.py: 539] +05/12 09:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:20 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:41:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:41:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187496m [env.py: 870] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4090941 -1.06061885 -0.18749608] yaw=-42.2deg [env.py: 1019] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.4ms [env.py: 1075] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -1.061, -0.187) [env.py: 1079] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 09:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:41:21 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 09:41:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:41:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.874s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:22 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.740[m] 79.324[deg] [grasp_sample.py: 539] +05/12 09:41:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:41:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.099s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.622[m] 87.947[deg] [grasp_sample.py: 539] +05/12 09:41:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:41:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:41:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:41:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:41:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:41:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:41:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.992s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.536[m] 68.775[deg] [grasp_sample.py: 539] +05/12 09:41:34 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:41:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:41:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:41:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:41:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:41:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:41:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:41:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174296m [env.py: 870] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:41:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.1ms, total=218.1ms [env.py: 1105] +05/12 09:41:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:41:36 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:41:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:36 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.231[m] 21.315[deg] [grasp_sample.py: 539] +05/12 09:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:41:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:41:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:41:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:41:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:41:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:41:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:41:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131323m [env.py: 870] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:41:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=191.6ms, total=191.6ms [env.py: 1105] +05/12 09:41:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:41:37 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:41:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:41:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:41:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:41:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:41:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:41:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101054m [env.py: 870] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:41:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43493767 -1.09327448 -0.10105386] yaw=-41.9deg [env.py: 1019] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29065948 -1.13802687 -0.10105386] yaw=-37.8deg [env.py: 1019] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26810576 -1.04085345 -0.10105386] yaw=-54.9deg [env.py: 1019] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:41:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=262.5ms, total=262.6ms [env.py: 1075] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.093, -0.101) [env.py: 1079] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/12 09:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:41:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:41:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:41:39 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 09:41:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:41:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:41:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:41:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:41:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.887s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:41:43 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.670[m] 86.234[deg] [grasp_sample.py: 539] +05/12 09:41:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:41:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:41:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:41:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:42:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:42:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:42:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.450s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:42:04 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.108[m] 9.167[deg] [grasp_sample.py: 539] +05/12 09:42:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:42:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:42:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:42:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:42:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:42:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:42:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:42:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 510 non-colliding grasps [grasp_sample.py: 465] +05/12 09:42:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.462s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:42:18 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.106[m] 8.417[deg] [grasp_sample.py: 539] +05/12 09:42:19 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:42:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:42:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:42:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:42:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:42:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189133m [env.py: 870] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:42:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37453676 -1.11617287 -0.18913318] yaw=-45.3deg [env.py: 1019] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59204779 -1.00779149 -0.18913318] yaw=-62.4deg [env.py: 1019] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3181904 -1.02206457 -0.18913318] yaw=-50.0deg [env.py: 1019] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:42:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.8ms [env.py: 1075] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -1.116, -0.189) [env.py: 1079] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 09:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:42:21 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 09:42:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:42:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:42:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:42:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:42:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:42:22 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.667[m] 88.476[deg] [grasp_sample.py: 539] +05/12 09:42:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:24 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:42:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:42:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:42:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:42:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107676m [env.py: 870] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:42:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65643568 -0.8721757 -0.10767579] yaw=-66.9deg [env.py: 1019] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:42:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.656, -0.872, -0.108) [env.py: 1079] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 09:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:42:25 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 09:42:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:42:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:42:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:42:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:42:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.601s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:42:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 87.026[deg] [grasp_sample.py: 539] +05/12 09:42:31 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:42:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:42:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:42:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:42:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149873m [env.py: 870] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:42:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.6ms, total=217.7ms [env.py: 1105] +05/12 09:42:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:42:32 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:42:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:42:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:42:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:42:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119859m [env.py: 870] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:42:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53616035 -0.73774569 -0.1198589 ] yaw=-59.1deg [env.py: 1019] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:42:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.8ms [env.py: 1075] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.738, -0.120) [env.py: 1079] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg [env.py: 1082] +05/12 09:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:42:34 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 09:42:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:42:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:42:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:42:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:42:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:42:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:42:36 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:42:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:42:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:42:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:42:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111694m [env.py: 870] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:42:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.8ms, total=196.9ms [env.py: 1105] +05/12 09:42:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:42:37 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:42:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:42:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:42:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:42:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118881m [env.py: 870] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:42:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.5ms, total=187.5ms [env.py: 1105] +05/12 09:42:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:42:38 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:42:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:42:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:42:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:42:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:42:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:42:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195183m [env.py: 870] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:42:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.6206817 -0.85945647 -0.19518331] yaw=-58.6deg [env.py: 1019] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.1ms [env.py: 1075] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.859, -0.195) [env.py: 1079] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/12 09:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:42:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:42:40 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 09:42:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:42:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:42:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:42:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:42:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.538s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:42:50 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.704[m] 80.144[deg] [grasp_sample.py: 539] +05/12 09:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:42:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:42:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:42:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:43:14 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:43:21 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:43:33 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:43:37 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:43:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 09:43:37 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 09:43:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:43:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:43:41 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 09:43:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:43:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:43:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:43:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.69s (batch: 3.39s, save: 9.30s) [pipeline.py: 300] +05/12 09:43:50 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.92s: + episode_total: mean=78.39s, total=156.78s, count=2, min=7713.0ms, max=149069.0ms + sensor_polling: mean=371.0ms, total=97.19s, count=262, min=298.3ms, max=646.2ms + save_trajectories: mean=9.30s, total=9.30s, count=1, min=9298.5ms, max=9298.5ms + physics_step: mean=23.6ms, total=6.19s, count=262, min=14.9ms, max=50.2ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3392.3ms, max=3392.3ms + task_sampling: mean=462.1ms, total=924.2ms, count=2, min=447.7ms, max=476.5ms + task_specific_sample: mean=458.9ms, total=917.8ms, count=2, min=445.1ms, max=472.7ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms + mj_forward_sync: mean=416.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:51 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 09:43:51 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 09:43:51 INFO: [Worker 0] Worker 0 completed house 1: 6/8 successful episodes [pipeline.py: 1323] +05/12 09:43:51 INFO: [Worker 0] [PROFILE] House 1 complete: 6/8 successful, 8 episodes, total_time=2799.14s + House averages: + episode_total: mean=22.95s, total=1652.64s, count=72, min=194.0ms, max=191636.6ms + sensor_polling: mean=359.4ms, total=937.73s, count=2609, min=292.8ms, max=733.5ms + physics_step: mean=23.0ms, total=60.13s, count=2609, min=13.0ms, max=92.3ms + save_trajectories: mean=9.93s, total=59.58s, count=6, min=8863.0ms, max=11115.6ms + task_specific_sample: mean=408.6ms, total=29.42s, count=72, min=191.0ms, max=768.8ms + task_sampling: mean=514.8ms, total=25.74s, count=50, min=388.2ms, max=3065.0ms + save_batch_prep: mean=3.52s, total=21.15s, count=6, min=3040.7ms, max=3979.8ms + task_sampling_failed: mean=294.7ms, total=6.48s, count=22, min=193.9ms, max=503.8ms + scene_load: mean=2.59s, total=2.59s, count=1, min=2591.3ms, max=2591.3ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1568.8ms, max=1568.8ms + scene_compile: mean=873.3ms, total=873.3ms, count=1, min=873.3ms, max=873.3ms + compile_mujoco: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms + compile_xml_load: mean=215.1ms, total=215.1ms, count=1, min=215.1ms, max=215.1ms + scene_init: mean=99.8ms, total=99.8ms, count=1, min=99.8ms, max=99.8ms + scene_randomize: mean=1.2ms, total=84.9ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=50.8ms, total=50.8ms, count=1, min=50.8ms, max=50.8ms + compile_aux_policy_objects: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms + scene_asset_install: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + mj_forward_sync: mean=426.2us, total=30.7ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=13.9us, total=0.7ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:43:51 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:43:51 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=2799.14s + Worker averages: + episode_total: mean=22.95s, total=1652.64s, count=72, min=194.0ms, max=191636.6ms + sensor_polling: mean=359.4ms, total=937.73s, count=2609, min=292.8ms, max=733.5ms + physics_step: mean=23.0ms, total=60.13s, count=2609, min=13.0ms, max=92.3ms + save_trajectories: mean=9.93s, total=59.58s, count=6, min=8863.0ms, max=11115.6ms + task_specific_sample: mean=408.6ms, total=29.42s, count=72, min=191.0ms, max=768.8ms + task_sampling: mean=514.8ms, total=25.74s, count=50, min=388.2ms, max=3065.0ms + save_batch_prep: mean=3.52s, total=21.15s, count=6, min=3040.7ms, max=3979.8ms + task_sampling_failed: mean=294.7ms, total=6.48s, count=22, min=193.9ms, max=503.8ms + scene_load: mean=2.59s, total=2.59s, count=1, min=2591.3ms, max=2591.3ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1568.8ms, max=1568.8ms + scene_compile: mean=873.3ms, total=873.3ms, count=1, min=873.3ms, max=873.3ms + compile_mujoco: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms + compile_xml_load: mean=215.1ms, total=215.1ms, count=1, min=215.1ms, max=215.1ms + scene_init: mean=99.8ms, total=99.8ms, count=1, min=99.8ms, max=99.8ms + scene_randomize: mean=1.2ms, total=84.9ms, count=72, min=0.9ms, max=2.9ms + compile_aux_objects: mean=50.8ms, total=50.8ms, count=1, min=50.8ms, max=50.8ms + compile_aux_policy_objects: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms + scene_asset_install: mean=49.2ms, total=49.2ms, count=1, min=49.2ms, max=49.2ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + mj_forward_sync: mean=426.2us, total=30.7ms, count=72, min=0.4ms, max=0.7ms + asset_install_objects: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=13.9us, total=0.7ms, count=50, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:43:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:43:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.60s (batch: 3.23s, save: 8.37s) [pipeline.py: 300] +05/12 09:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:53 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.14s: + episode_total: mean=29.99s, total=179.94s, count=6, min=201.1ms, max=134367.2ms + sensor_polling: mean=330.2ms, total=106.34s, count=322, min=291.9ms, max=601.0ms + save_trajectories: mean=8.37s, total=8.37s, count=1, min=8373.0ms, max=8373.0ms + physics_step: mean=21.7ms, total=6.98s, count=322, min=13.5ms, max=47.5ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3226.3ms, max=3226.3ms + task_specific_sample: mean=327.9ms, total=1.97s, count=6, min=197.9ms, max=582.0ms + task_sampling: mean=568.8ms, total=1.14s, count=2, min=553.1ms, max=584.5ms + task_sampling_failed: mean=212.5ms, total=849.9ms, count=4, min=201.1ms, max=228.5ms + scene_randomize: mean=1.2ms, total=7.1ms, count=6, min=0.9ms, max=1.3ms + mj_forward_sync: mean=518.7us, total=3.1ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:43:53 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:43:53 INFO: Success count: 6, Total count: 8 [pipeline.py: 1491] +05/12 09:43:53 INFO: Success rate: 75.00% [pipeline.py: 1492] +05/12 09:43:54 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:43:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:43:54 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 09:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:43:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:43:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:43:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:43:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:43:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:43:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188684m [env.py: 870] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:43:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52329904 -1.00145278 -0.18868448] yaw=-66.7deg [env.py: 1019] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:43:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms [env.py: 1075] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -1.001, -0.189) [env.py: 1079] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/12 09:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:43:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:43:55 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 09:43:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 09:43:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:43:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:43:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:43:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:43:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:43:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:43:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:43:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 361 non-colliding grasps [grasp_sample.py: 465] +05/12 09:43:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.746s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:43:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.638[m] 88.278[deg] [grasp_sample.py: 539] +05/12 09:43:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:43:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:43:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:44:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.580s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:03 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.041[m] 3.923[deg] [grasp_sample.py: 539] +05/12 09:44:04 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:44:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115003m [env.py: 870] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=308.3ms, total=308.4ms [env.py: 1105] +05/12 09:44:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:44:06 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:44:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:44:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:44:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.73s (batch: 3.66s, save: 9.07s) [pipeline.py: 300] +05/12 09:44:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122947m [env.py: 870] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42940538 -1.02502913 -0.12294657] yaw=-60.8deg [env.py: 1019] +05/12 09:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=313.7ms, total=313.8ms [env.py: 1075] +05/12 09:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.025, -0.123) [env.py: 1079] +05/12 09:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg [env.py: 1082] +05/12 09:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:08 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:08 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.87s: + episode_total: mean=84.56s, total=253.68s, count=3, min=196.6ms, max=176241.3ms + sensor_polling: mean=407.6ms, total=175.66s, count=431, min=321.4ms, max=724.8ms + physics_step: mean=24.1ms, total=10.37s, count=431, min=14.6ms, max=102.9ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9068.7ms, max=9068.7ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3664.8ms, max=3664.8ms + task_specific_sample: mean=353.8ms, total=1.06s, count=3, min=192.1ms, max=453.1ms + task_sampling: mean=437.1ms, total=874.2ms, count=2, min=418.6ms, max=455.6ms + task_sampling_failed: mean=196.6ms, total=196.6ms, count=1, min=196.6ms, max=196.6ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=406.4us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:44:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174474m [env.py: 870] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39383421 -0.90972344 -0.17447364] yaw=-66.8deg [env.py: 1019] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=278.0ms, total=278.1ms [env.py: 1075] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.910, -0.174) [env.py: 1079] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.8 deg [env.py: 1082] +05/12 09:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:10 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.950s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:13 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.723[m] 79.239[deg] [grasp_sample.py: 539] +05/12 09:44:14 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:44:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120026m [env.py: 870] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63293485 -0.90073876 -0.12002625] yaw=-71.4deg [env.py: 1019] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53835453 -0.77875757 -0.12002625] yaw=-57.4deg [env.py: 1019] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.5ms, total=197.6ms [env.py: 1075] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.901, -0.120) [env.py: 1079] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg [env.py: 1082] +05/12 09:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:15 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.107s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.696[m] 84.939[deg] [grasp_sample.py: 539] +05/12 09:44:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:44:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:44:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:44:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:44:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.700s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:26 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.736[m] 86.253[deg] [grasp_sample.py: 539] +05/12 09:44:28 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:44:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.921s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:28 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.499[m] 57.266[deg] [grasp_sample.py: 539] +05/12 09:44:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141494m [env.py: 870] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30732086 -1.09127106 -0.14149376] yaw=-50.9deg [env.py: 1019] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:29 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44710869 -1.0834159 -0.14149376] yaw=-48.2deg [env.py: 1019] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=520.6ms, total=520.6ms [env.py: 1075] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -1.091, -0.141) [env.py: 1079] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg [env.py: 1082] +05/12 09:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:30 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135787m [env.py: 870] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=197.7ms, total=197.8ms [env.py: 1105] +05/12 09:44:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:44:30 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:44:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:31 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.684[m] 80.385[deg] [grasp_sample.py: 539] +05/12 09:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136857m [env.py: 870] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55246659 -0.90187846 -0.13685745] yaw=-54.9deg [env.py: 1019] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55242739 -0.95761657 -0.13685745] yaw=-67.6deg [env.py: 1019] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.6ms, total=180.6ms [env.py: 1075] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.552, -0.902, -0.137) [env.py: 1079] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/12 09:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:44:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:44:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:32 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.060s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.758[m] 82.488[deg] [grasp_sample.py: 539] +05/12 09:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:35 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153659m [env.py: 870] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4178156 -0.79056521 -0.15365939] yaw=-49.6deg [env.py: 1019] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.1ms [env.py: 1075] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.791, -0.154) [env.py: 1079] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 09:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:37 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.699s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:44:39 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115549m [env.py: 870] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39898677 -1.13755574 -0.11554945] yaw=-48.9deg [env.py: 1019] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1075] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -1.138, -0.116) [env.py: 1079] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 09:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:40 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.188s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.651[m] 89.371[deg] [grasp_sample.py: 539] +05/12 09:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:44:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:44:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:44:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:44 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:44:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169255m [env.py: 870] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11126305 -1.05180186 -0.16925543] yaw=-33.4deg [env.py: 1019] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22099941 -1.0033076 -0.16925543] yaw=-43.6deg [env.py: 1019] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=410.7ms, total=410.7ms [env.py: 1075] +05/12 09:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.111, -1.052, -0.169) [env.py: 1079] +05/12 09:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.4 deg [env.py: 1082] +05/12 09:44:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 09:44:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:46 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.655s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:46 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.572[m] 60.260[deg] [grasp_sample.py: 539] +05/12 09:44:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:47 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:44:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.636s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:44:48 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:44:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137497m [env.py: 870] +05/12 09:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59606076 -0.80710772 -0.1374966 ] yaw=-78.4deg [env.py: 1019] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24320375 -0.94121626 -0.1374966 ] yaw=-48.0deg [env.py: 1019] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58613845 -0.87057848 -0.1374966 ] yaw=-66.5deg [env.py: 1019] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.0ms, total=260.1ms [env.py: 1075] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.807, -0.137) [env.py: 1079] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.4 deg [env.py: 1082] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:49 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:44:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:44:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:44:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151761m [env.py: 870] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27445568 -1.17307249 -0.15176119] yaw=-33.6deg [env.py: 1019] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:44:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=294.8ms, total=294.9ms [env.py: 1075] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.173, -0.152) [env.py: 1079] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg [env.py: 1082] +05/12 09:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:44:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.325s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:44:49 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 09:44:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 09:44:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:44:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:44:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:44:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:44:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.683[m] 86.031[deg] [grasp_sample.py: 539] +05/12 09:44:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:44:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:44:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:44:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:45:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.069s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:45:05 INFO: [Worker 0] Feasible grasp found 461 (originally 461): w/ 0.777[m] 94.307[deg] [grasp_sample.py: 539] +05/12 09:45:06 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:45:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:45:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:45:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159193m [env.py: 870] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55684253 -0.95750331 -0.15919252] yaw=-72.6deg [env.py: 1019] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:45:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.6ms [env.py: 1075] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.958, -0.159) [env.py: 1079] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg [env.py: 1082] +05/12 09:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:45:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:45:08 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 09:45:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 09:45:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:45:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:45:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:45:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:45:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.654[m] 87.727[deg] [grasp_sample.py: 539] +05/12 09:45:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:45:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:45:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:45:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:45:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:45:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:45:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:45:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:45:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:45:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:45:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:46:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:46:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:46:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 327 non-colliding grasps [grasp_sample.py: 465] +05/12 09:46:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.969s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:46:04 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.050[m] 8.855[deg] [grasp_sample.py: 539] +05/12 09:46:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:46:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:46:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:46:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:46:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:26 INFO: [Worker 0] Object is not in grasp! 0.00135 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:46:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:46:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:46:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:46:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 373 non-colliding grasps [grasp_sample.py: 465] +05/12 09:46:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.985s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:46:28 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.065[m] 10.788[deg] [grasp_sample.py: 539] +05/12 09:46:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:46:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:46:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:46:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:46:49 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:46:50 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:46:52 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:47:07 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:47:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:47:07 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 09:47:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:47:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 09:47:08 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 09:47:13 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:47:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:47:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:47:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:47:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:47:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.69s (batch: 3.41s, save: 8.28s) [pipeline.py: 300] +05/12 09:47:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:47:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:47:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.18s (batch: 3.05s, save: 8.13s) [pipeline.py: 300] +05/12 09:47:20 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=2.75s: + episode_total: mean=28.20s, total=197.41s, count=7, min=206.4ms, max=150589.3ms + sensor_polling: mean=384.6ms, total=125.37s, count=326, min=299.5ms, max=618.2ms + physics_step: mean=25.7ms, total=8.38s, count=326, min=14.8ms, max=32.3ms + save_trajectories: mean=8.28s, total=8.28s, count=1, min=8284.4ms, max=8284.4ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3410.2ms, max=3410.2ms + task_specific_sample: mean=419.9ms, total=2.94s, count=7, min=203.0ms, max=623.4ms + task_sampling: mean=458.8ms, total=2.75s, count=6, min=383.3ms, max=626.4ms + task_sampling_failed: mean=206.4ms, total=206.4ms, count=1, min=206.4ms, max=206.4ms + scene_randomize: mean=1.4ms, total=9.6ms, count=7, min=0.9ms, max=2.6ms + mj_forward_sync: mean=397.6us, total=2.8ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:47:20 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=4.53s: + episode_total: mean=24.68s, total=394.82s, count=16, min=195.3ms, max=132164.9ms + sensor_polling: mean=335.8ms, total=215.93s, count=643, min=298.2ms, max=616.1ms + physics_step: mean=21.0ms, total=13.47s, count=643, min=14.5ms, max=39.7ms + save_trajectories: mean=8.13s, total=8.13s, count=1, min=8130.8ms, max=8130.8ms + task_specific_sample: mean=366.9ms, total=5.87s, count=16, min=192.3ms, max=572.2ms + task_sampling: mean=452.7ms, total=4.53s, count=10, min=397.7ms, max=576.6ms + save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3053.7ms, max=3053.7ms + task_sampling_failed: mean=233.0ms, total=1.40s, count=6, min=195.3ms, max=320.9ms + scene_randomize: mean=1.2ms, total=19.7ms, count=16, min=0.9ms, max=3.1ms + mj_forward_sync: mean=431.7us, total=6.9ms, count=16, min=0.4ms, max=0.6ms + policy_setup: mean=13.6us, total=0.1ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=16, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:47:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:47:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164895m [env.py: 870] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:21 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 09:47:21 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 09:47:21 INFO: [Worker 0] Worker 0 completed house 1: 6/9 successful episodes [pipeline.py: 1323] +05/12 09:47:21 INFO: [Worker 0] [PROFILE] House 1 complete: 6/9 successful, 9 episodes, total_time=3153.18s + House averages: + episode_total: mean=25.92s, total=1866.07s, count=72, min=189.1ms, max=156690.6ms + sensor_polling: mean=347.9ms, total=1076.30s, count=3094, min=293.2ms, max=729.9ms + physics_step: mean=22.1ms, total=68.48s, count=3094, min=13.3ms, max=95.8ms + save_trajectories: mean=8.86s, total=53.18s, count=6, min=8130.8ms, max=9448.8ms + task_specific_sample: mean=412.6ms, total=29.71s, count=72, min=183.5ms, max=932.4ms + task_sampling: mean=553.9ms, total=27.14s, count=49, min=317.2ms, max=3727.5ms + save_batch_prep: mean=3.01s, total=18.05s, count=6, min=2804.8ms, max=3325.4ms + task_sampling_failed: mean=261.0ms, total=6.00s, count=23, min=189.1ms, max=484.8ms + scene_load: mean=3.23s, total=3.23s, count=1, min=3226.0ms, max=3226.0ms + scene_compile: mean=1.58s, total=1.58s, count=1, min=1577.2ms, max=1577.2ms + scene_env_create: mean=1.49s, total=1.49s, count=1, min=1487.2ms, max=1487.2ms + compile_xml_load: mean=927.4ms, total=927.4ms, count=1, min=927.4ms, max=927.4ms + compile_mujoco: mean=564.4ms, total=564.4ms, count=1, min=564.4ms, max=564.4ms + scene_init: mean=98.2ms, total=98.2ms, count=1, min=98.2ms, max=98.2ms + scene_randomize: mean=1.2ms, total=85.4ms, count=72, min=0.9ms, max=3.1ms + scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms + compile_aux_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + mj_forward_sync: mean=438.1us, total=31.5ms, count=72, min=0.4ms, max=0.7ms + compile_robot_add: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + policy_setup: mean=14.2us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:47:21 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:47:21 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3153.18s + Worker averages: + episode_total: mean=25.92s, total=1866.07s, count=72, min=189.1ms, max=156690.6ms + sensor_polling: mean=347.9ms, total=1076.30s, count=3094, min=293.2ms, max=729.9ms + physics_step: mean=22.1ms, total=68.48s, count=3094, min=13.3ms, max=95.8ms + save_trajectories: mean=8.86s, total=53.18s, count=6, min=8130.8ms, max=9448.8ms + task_specific_sample: mean=412.6ms, total=29.71s, count=72, min=183.5ms, max=932.4ms + task_sampling: mean=553.9ms, total=27.14s, count=49, min=317.2ms, max=3727.5ms + save_batch_prep: mean=3.01s, total=18.05s, count=6, min=2804.8ms, max=3325.4ms + task_sampling_failed: mean=261.0ms, total=6.00s, count=23, min=189.1ms, max=484.8ms + scene_load: mean=3.23s, total=3.23s, count=1, min=3226.0ms, max=3226.0ms + scene_compile: mean=1.58s, total=1.58s, count=1, min=1577.2ms, max=1577.2ms + scene_env_create: mean=1.49s, total=1.49s, count=1, min=1487.2ms, max=1487.2ms + compile_xml_load: mean=927.4ms, total=927.4ms, count=1, min=927.4ms, max=927.4ms + compile_mujoco: mean=564.4ms, total=564.4ms, count=1, min=564.4ms, max=564.4ms + scene_init: mean=98.2ms, total=98.2ms, count=1, min=98.2ms, max=98.2ms + scene_randomize: mean=1.2ms, total=85.4ms, count=72, min=0.9ms, max=3.1ms + scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms + compile_aux_objects: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms + compile_aux_policy_objects: mean=49.8ms, total=49.8ms, count=1, min=49.8ms, max=49.8ms + asset_install_grasps: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + mj_forward_sync: mean=438.1us, total=31.5ms, count=72, min=0.4ms, max=0.7ms + compile_robot_add: mean=27.4ms, total=27.4ms, count=1, min=27.4ms, max=27.4ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms + policy_setup: mean=14.2us, total=0.7ms, count=49, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=572.7ms, total=572.7ms [env.py: 1105] +05/12 09:47:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:47:21 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:47:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:47:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:47:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:47:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:47:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:47:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176181m [env.py: 870] +05/12 09:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:47:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=350.7ms, total=350.7ms [env.py: 1105] +05/12 09:47:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:47:23 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:47:23 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:47:23 INFO: Success count: 6, Total count: 9 [pipeline.py: 1491] +05/12 09:47:23 INFO: Success rate: 66.67% [pipeline.py: 1492] +05/12 09:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:47:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:47:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:47:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:47:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131214m [env.py: 870] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44153216 -1.01229748 -0.13121448] yaw=-56.6deg [env.py: 1019] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26720043 -1.02602897 -0.13121448] yaw=-44.7deg [env.py: 1019] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25545171 -1.16342902 -0.13121448] yaw=-31.3deg [env.py: 1019] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:47:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.1ms, total=162.1ms [env.py: 1075] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.012, -0.131) [env.py: 1079] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/12 09:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:47:25 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 09:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:47:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:47:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:47:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:47:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:47:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.86s (batch: 3.24s, save: 9.62s) [pipeline.py: 300] +05/12 09:47:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.719s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:47:27 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.728[m] 90.490[deg] [grasp_sample.py: 539] +05/12 09:47:27 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=1.27s: + episode_total: mean=98.15s, total=196.29s, count=2, min=18565.4ms, max=177728.1ms + sensor_polling: mean=392.8ms, total=117.83s, count=300, min=311.5ms, max=700.4ms + save_trajectories: mean=9.62s, total=9.62s, count=1, min=9620.6ms, max=9620.6ms + physics_step: mean=23.0ms, total=6.90s, count=300, min=19.7ms, max=31.6ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3236.1ms, max=3236.1ms + task_sampling: mean=635.3ms, total=1.27s, count=2, min=530.5ms, max=740.2ms + task_specific_sample: mean=631.7ms, total=1.26s, count=2, min=526.8ms, max=736.6ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms + mj_forward_sync: mean=477.0us, total=1.0ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=11.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:47:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:47:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:47:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:47:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:47:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:47:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:47:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:47:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:47:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:47:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180819m [env.py: 870] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:47:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.4ms, total=209.4ms [env.py: 1105] +05/12 09:47:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:47:28 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:47:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:47:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:47:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:47:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:47:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:47:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122214m [env.py: 870] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:47:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36501124 -0.89748079 -0.1222139 ] yaw=-65.0deg [env.py: 1019] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63174479 -0.9729572 -0.1222139 ] yaw=-66.3deg [env.py: 1019] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:47:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms [env.py: 1075] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -0.897, -0.122) [env.py: 1079] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 09:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:47:30 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 09:47:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 09:47:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:47:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:47:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:47:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.295s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:47:33 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 09:47:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:47:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:47:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:47:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:47:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:47:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:47:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115447m [env.py: 870] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:47:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26754586 -1.21292698 -0.11544671] yaw=-31.9deg [env.py: 1019] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12431261 -1.09813892 -0.11544671] yaw=-45.1deg [env.py: 1019] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.6ms, total=164.7ms [env.py: 1075] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -1.213, -0.115) [env.py: 1079] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.9 deg [env.py: 1082] +05/12 09:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 09:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:47:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:47:35 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 09:47:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:47:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:47:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:47:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:47:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:47:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.672[m] 89.571[deg] [grasp_sample.py: 539] +05/12 09:47:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:47:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:47:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:48:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:48:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:48:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:48:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:48:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:48:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:49:11 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:49:22 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:49:28 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:49:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:49:28 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 09:49:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:49:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:49:39 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 09:49:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:49:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:49:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.99s (batch: 3.15s, save: 8.85s) [pipeline.py: 300] +05/12 09:49:40 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.38s: + episode_total: mean=45.70s, total=137.09s, count=3, min=358.7ms, max=136144.1ms + sensor_polling: mean=314.5ms, total=88.68s, count=282, min=298.9ms, max=564.8ms + save_trajectories: mean=8.85s, total=8.85s, count=1, min=8845.2ms, max=8845.2ms + physics_step: mean=20.9ms, total=5.90s, count=282, min=14.7ms, max=23.9ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3147.3ms, max=3147.3ms + task_specific_sample: mean=435.9ms, total=1.31s, count=3, min=355.3ms, max=578.5ms + task_sampling_failed: mean=473.7ms, total=947.4ms, count=2, min=358.7ms, max=588.8ms + task_sampling: mean=375.7ms, total=375.7ms, count=1, min=375.7ms, max=375.7ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=0.9ms, max=2.6ms + mj_forward_sync: mean=413.3us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:49:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:49:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:49:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:49:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:49:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:49:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:49:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120020m [env.py: 870] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:49:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30998753 -1.12158452 -0.12001984] yaw=-42.9deg [env.py: 1019] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:49:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.2ms, total=176.2ms [env.py: 1075] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.122, -0.120) [env.py: 1079] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 09:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:49:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:49:42 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 09:49:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 09:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:49:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:49:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:49:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.113s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:49:47 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.703[m] 75.491[deg] [grasp_sample.py: 539] +05/12 09:49:48 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:49:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:49:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:49:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:49:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:49:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:49:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:49:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151926m [env.py: 870] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:49:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5050429 -1.0504458 -0.15192639] yaw=-51.8deg [env.py: 1019] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:49:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.4ms [env.py: 1075] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -1.050, -0.152) [env.py: 1079] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.8 deg [env.py: 1082] +05/12 09:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:49:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:49:50 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 09:49:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 09:49:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:49:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:49:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:49:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:49:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:49:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.60s (batch: 3.09s, save: 8.51s) [pipeline.py: 300] +05/12 09:49:51 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.79s: + episode_total: mean=46.96s, total=140.88s, count=3, min=220.9ms, max=136739.3ms + sensor_polling: mean=353.0ms, total=96.38s, count=273, min=317.2ms, max=626.2ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8508.9ms, max=8508.9ms + physics_step: mean=20.9ms, total=5.71s, count=273, min=14.6ms, max=30.0ms + save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3093.3ms, max=3093.3ms + task_specific_sample: mean=333.6ms, total=1.00s, count=3, min=215.3ms, max=447.3ms + task_sampling: mean=395.1ms, total=790.3ms, count=2, min=340.4ms, max=449.9ms + task_sampling_failed: mean=220.9ms, total=220.9ms, count=1, min=220.9ms, max=220.9ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.7ms + mj_forward_sync: mean=421.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:49:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.144s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:49:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.618[m] 84.003[deg] [grasp_sample.py: 539] +05/12 09:49:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:49:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:49:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:49:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:49:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:49:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:49:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:49:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:49:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:49:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169010m [env.py: 870] +05/12 09:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:49:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27882804 -1.15425931 -0.16900993] yaw=-42.2deg [env.py: 1019] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:49:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:49:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17085618 -1.03442315 -0.16900993] yaw=-48.7deg [env.py: 1019] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=472.7ms, total=472.7ms [env.py: 1075] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.154, -0.169) [env.py: 1079] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 09:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 09:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:49:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:49:53 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 09:49:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 09:49:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:49:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:49:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:49:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.007s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:49:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.674[m] 93.955[deg] [grasp_sample.py: 539] +05/12 09:49:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:49:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:49:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:49:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:50:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:50:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:50:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:50:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:50:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.929s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:50:27 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.499[m] 58.810[deg] [grasp_sample.py: 539] +05/12 09:50:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:50:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:50:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:50:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:50:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:50:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:50:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:50:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.919s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:50:42 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.495[m] 57.769[deg] [grasp_sample.py: 539] +05/12 09:50:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:50:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:50:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:50:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:50:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:50:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:50:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:50:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:50:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:50:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.795s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:50:57 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.495[m] 57.770[deg] [grasp_sample.py: 539] +05/12 09:50:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:50:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:50:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:50:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:51:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:51:07 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 09:51:08 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 09:51:08 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=False episode_total=0.80s: + episode_total: mean=42.51s, total=85.03s, count=2, min=6762.0ms, max=78263.9ms + sensor_polling: mean=357.2ms, total=26.79s, count=75, min=298.2ms, max=530.1ms + physics_step: mean=20.1ms, total=1.51s, count=75, min=12.7ms, max=33.5ms + task_sampling: mean=402.2ms, total=804.4ms, count=2, min=391.8ms, max=412.7ms + task_specific_sample: mean=399.1ms, total=798.2ms, count=2, min=388.3ms, max=409.9ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.0ms, max=2.3ms + mj_forward_sync: mean=414.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:51:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:51:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:51:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:51:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:51:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:51:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189254m [env.py: 870] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:51:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63919927 -0.92977955 -0.18925428] yaw=-76.1deg [env.py: 1019] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19867775 -1.1204704 -0.18925428] yaw=-28.1deg [env.py: 1019] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:51:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.7ms, total=180.8ms [env.py: 1075] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.930, -0.189) [env.py: 1079] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.1 deg [env.py: 1082] +05/12 09:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:51:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:51:09 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 09:51:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 09:51:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:51:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:51:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:51:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.680s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:51:10 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.640[m] 78.347[deg] [grasp_sample.py: 539] +05/12 09:51:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:51:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:51:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:51:40 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:51:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:51:57 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:51:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:51:57 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 09:52:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:52:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:52:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:52:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.34s (batch: 3.08s, save: 8.27s) [pipeline.py: 300] +05/12 09:52:08 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.71s: + episode_total: mean=136.07s, total=136.07s, count=1, min=136065.7ms, max=136065.7ms + sensor_polling: mean=353.8ms, total=96.24s, count=272, min=314.0ms, max=540.1ms + save_trajectories: mean=8.27s, total=8.27s, count=1, min=8265.5ms, max=8265.5ms + physics_step: mean=21.2ms, total=5.75s, count=272, min=14.5ms, max=31.6ms + save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3075.4ms, max=3075.4ms + task_sampling: mean=710.0ms, total=710.0ms, count=1, min=710.0ms, max=710.0ms + task_specific_sample: mean=706.2ms, total=706.2ms, count=1, min=706.2ms, max=706.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=429.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:52:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:52:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:52:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:52:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:52:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:52:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:52:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155688m [env.py: 870] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:52:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27767507 -1.06717339 -0.15568826] yaw=-49.8deg [env.py: 1019] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62714057 -0.99653926 -0.15568826] yaw=-68.2deg [env.py: 1019] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:52:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.4ms, total=212.4ms [env.py: 1075] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.067, -0.156) [env.py: 1079] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/12 09:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:52:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:52:10 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 09:52:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 09:52:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:52:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:52:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:52:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:52:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:52:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:52:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:52:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/12 09:52:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.530s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:52:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.727[m] 83.471[deg] [grasp_sample.py: 539] +05/12 09:52:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.007s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:52:14 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.065[m] 5.419[deg] [grasp_sample.py: 539] +05/12 09:52:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:52:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:52:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:52:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:52:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:52:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:52:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136525m [env.py: 870] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49847496 -1.01430937 -0.13652483] yaw=-66.2deg [env.py: 1019] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:52:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms [env.py: 1075] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -1.014, -0.137) [env.py: 1079] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:52:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:52:16 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 09:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 09:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:52:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:52:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:52:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.154s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:52:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.665[m] 91.532[deg] [grasp_sample.py: 539] +05/12 09:52:19 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:52:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:52:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:52:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106630m [env.py: 870] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48529782 -0.9483875 -0.10662975] yaw=-62.8deg [env.py: 1019] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.7ms, total=193.7ms [env.py: 1075] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -0.948, -0.107) [env.py: 1079] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/12 09:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:52:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:52:20 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 09:52:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 09:52:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:52:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:52:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:52:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.559s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:52:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.679[m] 85.353[deg] [grasp_sample.py: 539] +05/12 09:52:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:52:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:52:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:52:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:52:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:35 INFO: [Worker 0] Object is not in grasp! 0.00119 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 09:52:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:52:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:52:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 392 non-colliding grasps [grasp_sample.py: 465] +05/12 09:52:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.076s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:52:40 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.073[m] 2.495[deg] [grasp_sample.py: 539] +05/12 09:52:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:52:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:52:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:52:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:52:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:02 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:53:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:53:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:53:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:53:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:53:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 09:53:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 09:53:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.239s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:53:24 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.135[m] 15.755[deg] [grasp_sample.py: 539] +05/12 09:53:25 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:53:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:53:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:53:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:53:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:53:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:53:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:53:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164876m [env.py: 870] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:53:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.7ms, total=191.7ms [env.py: 1105] +05/12 09:53:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:53:26 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:53:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:53:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:53:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:53:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:53:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:53:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155882m [env.py: 870] +05/12 09:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:53:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:53:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5754592 -1.00737069 -0.15588192] yaw=-73.6deg [env.py: 1019] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:53:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.6ms [env.py: 1075] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -1.007, -0.156) [env.py: 1079] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg [env.py: 1082] +05/12 09:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 09:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:53:28 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 09:53:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 09:53:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:53:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:53:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:53:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.134s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:53:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.645[m] 91.069[deg] [grasp_sample.py: 539] +05/12 09:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:53:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:53:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:53:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:53:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.48s (batch: 3.24s, save: 9.24s) [pipeline.py: 300] +05/12 09:53:34 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.38s: + episode_total: mean=145.28s, total=145.28s, count=1, min=145282.5ms, max=145282.5ms + sensor_polling: mean=319.4ms, total=95.82s, count=300, min=291.9ms, max=496.8ms + save_trajectories: mean=9.24s, total=9.24s, count=1, min=9236.3ms, max=9236.3ms + physics_step: mean=21.4ms, total=6.43s, count=300, min=14.3ms, max=56.9ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3239.9ms, max=3239.9ms + task_sampling: mean=377.9ms, total=377.9ms, count=1, min=377.9ms, max=377.9ms + task_specific_sample: mean=375.6ms, total=375.6ms, count=1, min=375.6ms, max=375.6ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=412.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:53:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:53:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:53:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:53:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:53:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:53:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:53:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131312m [env.py: 870] +05/12 09:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:53:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=308.5ms, total=308.5ms [env.py: 1105] +05/12 09:53:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:53:36 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:53:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:53:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:53:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:53:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:53:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:53:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109572m [env.py: 870] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:53:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=483.8ms, total=483.9ms [env.py: 1105] +05/12 09:53:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:53:38 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:53:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:53:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:53:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:53:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:53:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:53:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:53:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132739m [env.py: 870] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:53:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=408.5ms, total=408.6ms [env.py: 1105] +05/12 09:53:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:53:39 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:53:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:53:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:53:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:53:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140909m [env.py: 870] +05/12 09:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63740557 -0.85767676 -0.14090944] yaw=-78.6deg [env.py: 1019] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19490604 -1.1154841 -0.14090944] yaw=-35.4deg [env.py: 1019] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.4ms, total=249.5ms [env.py: 1075] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.637, -0.858, -0.141) [env.py: 1079] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.6 deg [env.py: 1082] +05/12 09:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 09:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:53:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:53:41 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 09:53:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 09:53:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:53:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:53:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.283s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:53:54 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.751[m] 92.235[deg] [grasp_sample.py: 539] +05/12 09:53:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:53:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:53:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:53:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 09:53:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 09:53:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:53:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:53:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:08 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.482[m] 63.986[deg] [grasp_sample.py: 539] +05/12 09:54:09 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:54:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:54:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:54:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:54:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141723m [env.py: 870] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:54:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.0ms, total=187.0ms [env.py: 1105] +05/12 09:54:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:54:10 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:54:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:54:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:54:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:54:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:54:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:54:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138048m [env.py: 870] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:54:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2163251 -1.13475752 -0.13804781] yaw=-43.0deg [env.py: 1019] +05/12 09:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:54:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms [env.py: 1075] +05/12 09:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.135, -0.138) [env.py: 1079] +05/12 09:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg [env.py: 1082] +05/12 09:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/12 09:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:54:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:54:12 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 09:54:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 09:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:54:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.981s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:17 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.692[m] 84.010[deg] [grasp_sample.py: 539] +05/12 09:54:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:54:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:54:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 09:54:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:54:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 09:54:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:54:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:54:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:54:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:54:54 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.089[m] 12.123[deg] [grasp_sample.py: 539] +05/12 09:54:55 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:54:56 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 09:54:56 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 09:54:56 INFO: [Worker 0] Worker 0 completed house 1: 10/13 successful episodes [pipeline.py: 1323] +05/12 09:54:56 INFO: [Worker 0] [PROFILE] House 1 complete: 10/13 successful, 13 episodes, total_time=3923.48s + House averages: + episode_total: mean=32.19s, total=2317.66s, count=72, min=199.2ms, max=164523.4ms + sensor_polling: mean=342.8ms, total=1326.91s, count=3871, min=291.9ms, max=849.4ms + save_trajectories: mean=9.23s, total=92.34s, count=10, min=8284.4ms, max=10787.2ms + physics_step: mean=22.3ms, total=86.37s, count=3871, min=12.7ms, max=128.1ms + save_batch_prep: mean=3.32s, total=33.20s, count=10, min=2918.1ms, max=3936.2ms + task_specific_sample: mean=409.0ms, total=29.45s, count=72, min=196.3ms, max=1097.4ms + task_sampling: mean=484.8ms, total=22.78s, count=47, min=375.7ms, max=1100.7ms + task_sampling_failed: mean=367.4ms, total=9.18s, count=25, min=199.2ms, max=2548.2ms + scene_load: mean=2.31s, total=2.31s, count=1, min=2307.0ms, max=2307.0ms + scene_env_create: mean=1.40s, total=1.40s, count=1, min=1400.1ms, max=1400.1ms + scene_compile: mean=766.7ms, total=766.7ms, count=1, min=766.7ms, max=766.7ms + compile_mujoco: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms + compile_xml_load: mean=216.9ms, total=216.9ms, count=1, min=216.9ms, max=216.9ms + scene_init: mean=95.6ms, total=95.6ms, count=1, min=95.6ms, max=95.6ms + scene_randomize: mean=1.3ms, total=91.5ms, count=72, min=0.9ms, max=3.0ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + mj_forward_sync: mean=440.0us, total=31.7ms, count=72, min=0.4ms, max=0.9ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=15.2us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 09:54:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 09:54:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=3923.48s + Worker averages: + episode_total: mean=32.19s, total=2317.66s, count=72, min=199.2ms, max=164523.4ms + sensor_polling: mean=342.8ms, total=1326.91s, count=3871, min=291.9ms, max=849.4ms + save_trajectories: mean=9.23s, total=92.34s, count=10, min=8284.4ms, max=10787.2ms + physics_step: mean=22.3ms, total=86.37s, count=3871, min=12.7ms, max=128.1ms + save_batch_prep: mean=3.32s, total=33.20s, count=10, min=2918.1ms, max=3936.2ms + task_specific_sample: mean=409.0ms, total=29.45s, count=72, min=196.3ms, max=1097.4ms + task_sampling: mean=484.8ms, total=22.78s, count=47, min=375.7ms, max=1100.7ms + task_sampling_failed: mean=367.4ms, total=9.18s, count=25, min=199.2ms, max=2548.2ms + scene_load: mean=2.31s, total=2.31s, count=1, min=2307.0ms, max=2307.0ms + scene_env_create: mean=1.40s, total=1.40s, count=1, min=1400.1ms, max=1400.1ms + scene_compile: mean=766.7ms, total=766.7ms, count=1, min=766.7ms, max=766.7ms + compile_mujoco: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms + compile_xml_load: mean=216.9ms, total=216.9ms, count=1, min=216.9ms, max=216.9ms + scene_init: mean=95.6ms, total=95.6ms, count=1, min=95.6ms, max=95.6ms + scene_randomize: mean=1.3ms, total=91.5ms, count=72, min=0.9ms, max=3.0ms + compile_aux_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + compile_aux_policy_objects: mean=50.4ms, total=50.4ms, count=1, min=50.4ms, max=50.4ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + mj_forward_sync: mean=440.0us, total=31.7ms, count=72, min=0.4ms, max=0.9ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=15.2us, total=0.7ms, count=47, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 09:54:59 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 09:54:59 INFO: Success count: 10, Total count: 13 [pipeline.py: 1491] +05/12 09:54:59 INFO: Success rate: 76.92% [pipeline.py: 1492] +05/12 09:55:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:55:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:55:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:56:00 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:56:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:56:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:56:17 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 09:56:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:56:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:56:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.19s (batch: 3.04s, save: 8.15s) [pipeline.py: 300] +05/12 09:56:29 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=2.11s: + episode_total: mean=36.02s, total=252.16s, count=7, min=194.9ms, max=137659.2ms + sensor_polling: mean=341.9ms, total=157.26s, count=460, min=300.9ms, max=552.2ms + physics_step: mean=20.3ms, total=9.32s, count=460, min=14.6ms, max=27.2ms + save_trajectories: mean=8.15s, total=8.15s, count=1, min=8152.4ms, max=8152.4ms + save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3035.4ms, max=3035.4ms + task_specific_sample: mean=355.0ms, total=2.48s, count=7, min=191.8ms, max=464.3ms + task_sampling: mean=422.2ms, total=2.11s, count=5, min=392.3ms, max=467.4ms + task_sampling_failed: mean=197.6ms, total=395.2ms, count=2, min=194.9ms, max=200.3ms + scene_randomize: mean=1.2ms, total=8.6ms, count=7, min=1.0ms, max=2.0ms + mj_forward_sync: mean=434.1us, total=3.0ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=12.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:56:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:56:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:56:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:56:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:56:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:56:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113333m [env.py: 870] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:56:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=165.4ms, total=165.5ms [env.py: 1105] +05/12 09:56:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:56:30 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:56:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:56:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:56:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:56:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:56:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:56:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141456m [env.py: 870] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:56:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30178017 -0.84779973 -0.14145635] yaw=-63.5deg [env.py: 1019] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:56:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.8ms, total=160.8ms [env.py: 1075] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -0.848, -0.141) [env.py: 1079] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg [env.py: 1082] +05/12 09:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:56:32 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 09:56:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 09:56:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:56:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:56:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:56:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.418s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:56:35 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:56:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:56:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183572m [env.py: 870] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54622552 -0.72350283 -0.18357233] yaw=-67.9deg [env.py: 1019] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.724, -0.184) [env.py: 1079] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/12 09:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:56:36 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 09:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 09:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:56:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:56:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:56:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.461s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:56:39 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:56:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:56:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116422m [env.py: 870] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.2ms, total=191.2ms [env.py: 1105] +05/12 09:56:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 09:56:40 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 09:56:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:56:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:56:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:56:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:56:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:56:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:56:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175961m [env.py: 870] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:56:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54839057 -0.7932809 -0.17596117] yaw=-71.1deg [env.py: 1019] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12573181 -1.09361444 -0.17596117] yaw=-48.2deg [env.py: 1019] +05/12 09:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:56:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.0ms, total=194.0ms [env.py: 1075] +05/12 09:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -0.793, -0.176) [env.py: 1079] +05/12 09:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/12 09:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 09:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:56:42 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 09:56:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:56:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:56:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:56:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:56:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.880s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:56:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.768[m] 80.102[deg] [grasp_sample.py: 539] +05/12 09:56:47 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:56:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:56:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:56:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:56:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:56:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:56:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156651m [env.py: 870] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:56:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37059323 -0.83104019 -0.15665091] yaw=-51.0deg [env.py: 1019] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:56:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.7ms, total=199.7ms [env.py: 1075] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -0.831, -0.157) [env.py: 1079] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 09:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:56:48 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 09:56:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 09:56:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:56:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:56:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:56:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.473s, found feasible grasp: False [grasp_sample.py: 500] +05/12 09:56:51 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 09:56:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:56:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:56:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:56:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:56:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:56:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175072m [env.py: 870] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:56:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45991982 -0.83581885 -0.17507244] yaw=-65.4deg [env.py: 1019] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20219404 -1.07874814 -0.17507244] yaw=-50.9deg [env.py: 1019] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:56:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.4ms [env.py: 1075] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.836, -0.175) [env.py: 1079] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 09:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m [env.py: 1086] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:56:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:56:53 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 09:56:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 09:56:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:56:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:56:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:56:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.602s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:56:57 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.778[m] 104.640[deg] [grasp_sample.py: 539] +05/12 09:56:58 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 09:57:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:57:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:57:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:57:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:57:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:57:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:57:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139080m [env.py: 870] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:57:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2489779 -1.05192592 -0.13907983] yaw=-49.7deg [env.py: 1019] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25228 -0.93269432 -0.13907983] yaw=-38.6deg [env.py: 1019] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37764749 -0.9220421 -0.13907983] yaw=-45.4deg [env.py: 1019] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:57:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms [env.py: 1075] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.052, -0.139) [env.py: 1079] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 09:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:57:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:57:00 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 09:57:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 09:57:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:57:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:57:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:57:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.606s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:57:04 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.726[m] 90.674[deg] [grasp_sample.py: 539] +05/12 09:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:57:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:57:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:57:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 09:57:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:58:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 09:58:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 09:58:49 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 09:59:07 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 09:59:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 09:59:07 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 09:59:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 09:59:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 09:59:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.28s (batch: 3.06s, save: 8.22s) [pipeline.py: 300] +05/12 09:59:18 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=2.37s: + episode_total: mean=19.97s, total=159.78s, count=8, min=177.1ms, max=138745.6ms + sensor_polling: mean=346.0ms, total=97.22s, count=281, min=314.4ms, max=564.7ms + save_trajectories: mean=8.22s, total=8.22s, count=1, min=8223.4ms, max=8223.4ms + physics_step: mean=20.5ms, total=5.77s, count=281, min=14.6ms, max=25.5ms + save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3056.4ms, max=3056.4ms + task_specific_sample: mean=340.6ms, total=2.72s, count=8, min=171.0ms, max=401.1ms + task_sampling: mean=395.2ms, total=2.37s, count=6, min=370.2ms, max=403.5ms + task_sampling_failed: mean=188.1ms, total=376.1ms, count=2, min=177.1ms, max=199.1ms + scene_randomize: mean=1.2ms, total=9.4ms, count=8, min=0.9ms, max=2.5ms + mj_forward_sync: mean=386.7us, total=3.1ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=11.2us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 09:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 09:59:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 09:59:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:59:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 09:59:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 09:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 09:59:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142296m [env.py: 870] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 09:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23620703 -1.04491711 -0.14229585] yaw=-50.0deg [env.py: 1019] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55562491 -1.0057414 -0.14229585] yaw=-56.2deg [env.py: 1019] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 09:59:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.5ms, total=169.6ms [env.py: 1075] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.045, -0.142) [env.py: 1079] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg [env.py: 1082] +05/12 09:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 09:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 09:59:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 09:59:20 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 09:59:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/12 09:59:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 09:59:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 09:59:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 09:59:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.230s, found feasible grasp: True [grasp_sample.py: 500] +05/12 09:59:43 INFO: [Worker 0] Feasible grasp found 338 (originally 338): w/ 0.710[m] 87.523[deg] [grasp_sample.py: 539] +05/12 09:59:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 09:59:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 09:59:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 09:59:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:00:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:00:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:00:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:01:24 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:01:41 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 10:01:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:01:41 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 10:01:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:01:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 10:01:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.18s (batch: 3.09s, save: 8.10s) [pipeline.py: 300] +05/12 10:01:53 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.38s: + episode_total: mean=153.43s, total=153.43s, count=1, min=153432.0ms, max=153432.0ms + sensor_polling: mean=340.2ms, total=92.87s, count=273, min=295.4ms, max=543.4ms + save_trajectories: mean=8.10s, total=8.10s, count=1, min=8099.2ms, max=8099.2ms + physics_step: mean=20.2ms, total=5.52s, count=273, min=14.2ms, max=22.5ms + save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3085.4ms, max=3085.4ms + task_sampling: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms + task_specific_sample: mean=375.8ms, total=375.8ms, count=1, min=375.8ms, max=375.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=411.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:01:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:01:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:01:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:01:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:01:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:01:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115818m [env.py: 870] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:01:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50743979 -0.85583191 -0.11581754] yaw=-61.4deg [env.py: 1019] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:01:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.1ms, total=169.1ms [env.py: 1075] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.856, -0.116) [env.py: 1079] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg [env.py: 1082] +05/12 10:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:01:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:01:55 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 10:01:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 10:01:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:01:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:01:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:01:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.640s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:01:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.748[m] 88.955[deg] [grasp_sample.py: 539] +05/12 10:01:58 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:02:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:02:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:02:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:02:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:02:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:02:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:02:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185763m [env.py: 870] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:02:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=160.3ms, total=160.3ms [env.py: 1105] +05/12 10:02:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:02:00 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:02:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:02:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:02:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:02:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:02:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:02:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:02:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121762m [env.py: 870] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:02:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43764094 -0.83689655 -0.12176182] yaw=-67.3deg [env.py: 1019] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:02:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.3ms [env.py: 1075] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.837, -0.122) [env.py: 1079] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg [env.py: 1082] +05/12 10:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:02:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:02:01 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 10:02:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 10:02:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:02:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:02:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:02:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.460s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:02:04 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:02:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:02:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:02:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:02:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:02:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:02:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:02:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144148m [env.py: 870] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:02:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60259548 -1.00333129 -0.14414815] yaw=-69.6deg [env.py: 1019] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:02:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.2ms [env.py: 1075] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.603, -1.003, -0.144) [env.py: 1079] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg [env.py: 1082] +05/12 10:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:02:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:02:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:02:06 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 10:02:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 10:02:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:02:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:02:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:02:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.450s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:02:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.617[m] 89.967[deg] [grasp_sample.py: 539] +05/12 10:02:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:02:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:02:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:02:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:02:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:02:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:02:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:02:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.158s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:02:37 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.485[m] 60.186[deg] [grasp_sample.py: 539] +05/12 10:02:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:02:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:02:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:02:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:02:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:02:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:02:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:02:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.325s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:02:51 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.485[m] 60.189[deg] [grasp_sample.py: 539] +05/12 10:02:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:02:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:02:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:03:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:03:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:03:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:03:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:03:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.163s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:03:06 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.485[m] 60.189[deg] [grasp_sample.py: 539] +05/12 10:03:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:03:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:03:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:03:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:03:17 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:03:17 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=1.07s: + episode_total: mean=19.78s, total=79.14s, count=4, min=168.6ms, max=71770.6ms + sensor_polling: mean=340.2ms, total=25.86s, count=76, min=317.4ms, max=527.4ms + physics_step: mean=16.9ms, total=1.28s, count=76, min=12.6ms, max=22.1ms + task_specific_sample: mean=305.8ms, total=1.22s, count=4, min=164.9ms, max=380.5ms + task_sampling: mean=355.5ms, total=1.07s, count=3, min=333.7ms, max=384.2ms + task_sampling_failed: mean=168.6ms, total=168.6ms, count=1, min=168.6ms, max=168.6ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.0ms, max=2.6ms + mj_forward_sync: mean=416.5us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=11.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:03:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:03:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:03:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:03:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:03:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:03:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:03:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179527m [env.py: 870] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:03:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40925777 -0.8308347 -0.17952726] yaw=-65.7deg [env.py: 1019] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:03:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=163.6ms, total=163.7ms [env.py: 1075] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.831, -0.180) [env.py: 1079] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/12 10:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:03:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:03:19 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 10:03:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:03:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:03:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:03:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:03:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.497s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:03:21 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:03:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:03:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:03:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:03:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:03:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:03:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:03:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135384m [env.py: 870] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:03:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48794775 -0.9807692 -0.13538355] yaw=-63.4deg [env.py: 1019] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19839463 -1.06944569 -0.13538355] yaw=-50.3deg [env.py: 1019] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47258872 -1.05961214 -0.13538355] yaw=-54.4deg [env.py: 1019] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:03:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.3ms, total=151.4ms [env.py: 1075] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.981, -0.135) [env.py: 1079] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/12 10:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/12 10:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:03:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:03:23 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 10:03:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 10:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:03:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:03:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:03:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.261s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:03:30 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.737[m] 89.813[deg] [grasp_sample.py: 539] +05/12 10:03:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:03:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:03:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:03:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:04:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:04:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:04:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:04:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:04:52 INFO: [Worker 0] Object is not in grasp! 0.00166 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:04:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:04:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:04:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:04:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 392 non-colliding grasps [grasp_sample.py: 465] +05/12 10:04:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.471s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:04:53 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.669[deg] [grasp_sample.py: 539] +05/12 10:04:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:04:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:04:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:05:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:05:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:05:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:05:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 364 non-colliding grasps [grasp_sample.py: 465] +05/12 10:05:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.523s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:05:22 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.133[m] 3.039[deg] [grasp_sample.py: 539] +05/12 10:05:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:05:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:05:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:31 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:05:31 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=False episode_total=0.67s: + episode_total: mean=65.91s, total=131.82s, count=2, min=2997.7ms, max=128825.7ms + sensor_polling: mean=345.4ms, total=103.61s, count=300, min=305.4ms, max=596.5ms + physics_step: mean=20.8ms, total=6.23s, count=300, min=14.5ms, max=26.6ms + task_sampling: mean=333.8ms, total=667.6ms, count=2, min=325.2ms, max=342.4ms + task_specific_sample: mean=330.9ms, total=661.7ms, count=2, min=321.6ms, max=340.1ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.0ms, max=1.6ms + mj_forward_sync: mean=407.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:05:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:05:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:05:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:05:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:05:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:05:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:05:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:05:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:05:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105140m [env.py: 870] +05/12 10:05:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:05:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37625591 -1.13996851 -0.10513963] yaw=-56.9deg [env.py: 1019] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34448238 -1.14201889 -0.10513963] yaw=-33.6deg [env.py: 1019] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:05:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=521.2ms, total=521.2ms [env.py: 1075] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -1.140, -0.105) [env.py: 1079] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 10:05:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 10:05:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:05:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:05:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:05:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:05:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:05:33 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 10:05:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 10:05:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:05:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:05:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:05:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.130s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:05:37 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.665[m] 86.737[deg] [grasp_sample.py: 539] +05/12 10:05:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:05:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:05:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:05:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:06:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:06:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:06:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:07:16 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:07:36 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 10:07:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:07:36 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 10:07:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:07:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 10:07:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.42s (batch: 3.33s, save: 8.09s) [pipeline.py: 300] +05/12 10:07:48 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.75s: + episode_total: mean=135.32s, total=135.32s, count=1, min=135316.8ms, max=135316.8ms + sensor_polling: mean=339.5ms, total=90.65s, count=267, min=292.6ms, max=614.5ms + save_trajectories: mean=8.09s, total=8.09s, count=1, min=8088.9ms, max=8088.9ms + physics_step: mean=20.4ms, total=5.44s, count=267, min=14.3ms, max=23.0ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3330.6ms, max=3330.6ms + task_sampling: mean=751.2ms, total=751.2ms, count=1, min=751.2ms, max=751.2ms + task_specific_sample: mean=748.6ms, total=748.6ms, count=1, min=748.6ms, max=748.6ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=478.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=11.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:07:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:07:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:07:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:07:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:07:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:07:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:07:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120854m [env.py: 870] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:07:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38839098 -0.94634499 -0.12085399] yaw=-55.5deg [env.py: 1019] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:07:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.3ms [env.py: 1075] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -0.946, -0.121) [env.py: 1079] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/12 10:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:07:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:07:49 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 10:07:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 10:07:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:07:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:07:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:07:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:07:55 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.759[m] 75.460[deg] [grasp_sample.py: 539] +05/12 10:07:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:07:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:07:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:07:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:08:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:09:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:09:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:09:48 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:10:09 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 10:10:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:10:09 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 10:10:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:10:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 10:10:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.82s (batch: 3.19s, save: 8.63s) [pipeline.py: 300] +05/12 10:10:22 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.44s: + episode_total: mean=152.68s, total=152.68s, count=1, min=152675.2ms, max=152675.2ms + sensor_polling: mean=338.5ms, total=96.81s, count=286, min=304.6ms, max=651.5ms + save_trajectories: mean=8.63s, total=8.63s, count=1, min=8632.3ms, max=8632.3ms + physics_step: mean=20.5ms, total=5.85s, count=286, min=14.4ms, max=25.3ms + save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3188.1ms, max=3188.1ms + task_sampling: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms + task_specific_sample: mean=440.7ms, total=440.7ms, count=1, min=440.7ms, max=440.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=417.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:10:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:10:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:10:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:10:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:10:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:10:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:10:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:10:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:10:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106731m [env.py: 870] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:10:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=167.8ms, total=167.8ms [env.py: 1105] +05/12 10:10:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:10:23 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:10:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:10:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:10:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:10:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:10:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:10:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:10:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119447m [env.py: 870] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:10:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41701921 -1.10646345 -0.11944672] yaw=-56.0deg [env.py: 1019] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:10:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.8ms [env.py: 1075] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -1.106, -0.119) [env.py: 1079] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 10:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:10:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:10:25 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 10:10:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 10:10:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:10:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:10:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:10:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.493s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:10:34 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.667[m] 89.991[deg] [grasp_sample.py: 539] +05/12 10:10:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:10:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:10:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:11:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:11:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:11:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:12:17 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:12:35 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_015 [pipeline.py: 1174] +05/12 10:12:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:12:35 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 10:12:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:12:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_015 [save_utils.py: 785] +05/12 10:12:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 11.47s (batch: 3.13s, save: 8.34s) [pipeline.py: 300] +05/12 10:12:47 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.38s: + episode_total: mean=71.59s, total=143.17s, count=2, min=179.0ms, max=142991.8ms + sensor_polling: mean=337.8ms, total=91.88s, count=272, min=284.6ms, max=631.8ms + save_trajectories: mean=8.34s, total=8.34s, count=1, min=8336.8ms, max=8336.8ms + physics_step: mean=19.8ms, total=5.39s, count=272, min=14.7ms, max=24.1ms + save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3134.0ms, max=3134.0ms + task_specific_sample: mean=274.3ms, total=548.7ms, count=2, min=173.3ms, max=375.3ms + task_sampling: mean=377.8ms, total=377.8ms, count=1, min=377.8ms, max=377.8ms + task_sampling_failed: mean=179.0ms, total=179.0ms, count=1, min=179.0ms, max=179.0ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.0ms, max=2.2ms + mj_forward_sync: mean=416.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:12:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:12:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:12:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144318m [env.py: 870] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63405123 -0.97783987 -0.14431808] yaw=-64.7deg [env.py: 1019] +05/12 10:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:12:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.8ms, total=226.8ms [env.py: 1075] +05/12 10:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.978, -0.144) [env.py: 1079] +05/12 10:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 10:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 10:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:12:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:12:49 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 10:12:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:12:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:12:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:12:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:12:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.174s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:12:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.633[m] 91.524[deg] [grasp_sample.py: 539] +05/12 10:12:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:12:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:12:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:13:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:13:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:13:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:13:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:13:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.486[m] 65.873[deg] [grasp_sample.py: 539] +05/12 10:13:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:13:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:13:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:13:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:13:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:13:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:13:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:13:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:13:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.184s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:13:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.486[m] 65.876[deg] [grasp_sample.py: 539] +05/12 10:13:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:13:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:13:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:13:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:13:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:13:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:13:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:13:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:13:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.486[m] 65.876[deg] [grasp_sample.py: 539] +05/12 10:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:13:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:13:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:13:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:13:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:13:51 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:13:51 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=False episode_total=0.46s: + episode_total: mean=63.05s, total=63.05s, count=1, min=63053.7ms, max=63053.7ms + sensor_polling: mean=339.4ms, total=24.10s, count=71, min=302.1ms, max=634.7ms + physics_step: mean=16.8ms, total=1.19s, count=71, min=12.5ms, max=23.7ms + task_sampling: mean=457.7ms, total=457.7ms, count=1, min=457.7ms, max=457.7ms + task_specific_sample: mean=454.0ms, total=454.0ms, count=1, min=454.0ms, max=454.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=407.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:13:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:13:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:13:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:13:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:13:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:13:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:13:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146246m [env.py: 870] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:13:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48884017 -0.89638693 -0.14624571] yaw=-52.7deg [env.py: 1019] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.61115792 -0.74915788 -0.14624571] yaw=-63.6deg [env.py: 1019] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:13:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=193.7ms, total=193.7ms [env.py: 1075] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.896, -0.146) [env.py: 1079] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg [env.py: 1082] +05/12 10:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:13:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:13:53 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 10:13:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 10:13:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:13:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:13:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:13:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.197s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:13:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.768[m] 88.848[deg] [grasp_sample.py: 539] +05/12 10:13:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:13:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:13:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:15:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:15:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:15:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:15:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:15:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.646s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:15:05 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.128[m] 10.985[deg] [grasp_sample.py: 539] +05/12 10:15:06 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:15:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:15:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:15:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:15:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:15:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:15:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:15:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120015m [env.py: 870] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:15:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48003467 -0.84309896 -0.12001537] yaw=-55.4deg [env.py: 1019] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46713411 -1.02375311 -0.12001537] yaw=-54.9deg [env.py: 1019] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=202.1ms, total=202.2ms [env.py: 1075] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.843, -0.120) [env.py: 1079] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 10:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:15:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:15:07 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 10:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 10:15:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:15:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:15:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:15:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.642s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:15:23 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.781[m] 92.954[deg] [grasp_sample.py: 539] +05/12 10:15:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:15:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:15:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:15:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:16:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:16:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:16:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:16:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.323s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:16:27 INFO: [Worker 0] Feasible grasp found 338 (originally 338): w/ 0.168[m] 4.336[deg] [grasp_sample.py: 539] +05/12 10:16:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:16:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:16:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:16:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:16:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:16:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:16:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:16:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.938s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:16:36 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.215[m] 11.394[deg] [grasp_sample.py: 539] +05/12 10:16:37 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:16:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:16:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:16:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:16:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:16:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:16:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162250m [env.py: 870] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:16:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.5ms, total=215.6ms [env.py: 1105] +05/12 10:16:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:16:39 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:16:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:16:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177634m [env.py: 870] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=164.1ms, total=164.1ms [env.py: 1105] +05/12 10:16:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:16:40 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:16:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:16:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:16:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:16:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:16:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:16:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158594m [env.py: 870] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:16:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42403398 -1.1162675 -0.15859358] yaw=-57.5deg [env.py: 1019] +05/12 10:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:16:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=161.3ms, total=161.3ms [env.py: 1075] +05/12 10:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.424, -1.116, -0.159) [env.py: 1079] +05/12 10:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/12 10:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 10:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:16:42 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 10:16:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 10:16:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:16:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:16:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:16:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.189s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:16:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.621[m] 82.046[deg] [grasp_sample.py: 539] +05/12 10:16:45 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:16:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:16:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:16:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:16:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145054m [env.py: 870] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2715573 -0.9240806 -0.14505416] yaw=-39.8deg [env.py: 1019] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:16:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.2ms, total=191.2ms [env.py: 1075] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -0.924, -0.145) [env.py: 1079] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.8 deg [env.py: 1082] +05/12 10:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:16:47 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 10:16:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 10:16:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:16:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:16:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:16:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.163s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:16:49 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:16:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:16:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:16:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:16:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:16:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:16:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:16:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:16:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:16:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181691m [env.py: 870] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:16:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:16:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.7ms, total=189.7ms [env.py: 1105] +05/12 10:16:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:16:50 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:16:52 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 10:16:52 WARNING: [Worker 0] No trajectory data to save for chunk_015 [pipeline.py: 234] +05/12 10:16:52 INFO: [Worker 0] Worker 0 completed house 1: 18/22 successful episodes [pipeline.py: 1323] +05/12 10:16:52 INFO: [Worker 0] [PROFILE] House 1 complete: 18/22 successful, 22 episodes, total_time=6413.04s + House averages: + episode_total: mean=50.52s, total=3637.64s, count=72, min=168.6ms, max=179858.2ms + sensor_polling: mean=368.3ms, total=2351.29s, count=6384, min=284.6ms, max=1038.4ms + save_trajectories: mean=8.96s, total=161.27s, count=18, min=8088.9ms, max=10526.9ms + physics_step: mean=21.9ms, total=139.80s, count=6384, min=12.5ms, max=102.9ms + save_batch_prep: mean=3.31s, total=59.65s, count=18, min=3035.4ms, max=3735.1ms + task_specific_sample: mean=381.9ms, total=27.50s, count=72, min=164.9ms, max=887.2ms + task_sampling: mean=454.9ms, total=23.20s, count=51, min=325.2ms, max=890.0ms + task_sampling_failed: mean=329.8ms, total=6.93s, count=21, min=168.6ms, max=2601.3ms + scene_load: mean=2.40s, total=2.40s, count=1, min=2395.3ms, max=2395.3ms + scene_env_create: mean=1.50s, total=1.50s, count=1, min=1497.8ms, max=1497.8ms + scene_compile: mean=756.6ms, total=756.6ms, count=1, min=756.6ms, max=756.6ms + compile_mujoco: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms + compile_xml_load: mean=214.9ms, total=214.9ms, count=1, min=214.9ms, max=214.9ms + scene_randomize: mean=1.4ms, total=102.9ms, count=72, min=0.9ms, max=2.9ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms + compile_aux_policy_objects: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + mj_forward_sync: mean=430.5us, total=31.0ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=30.4ms, total=30.4ms, count=1, min=30.4ms, max=30.4ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + compile_robot_add: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.0us, total=0.7ms, count=51, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 10:16:52 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 10:16:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 22 episodes, total_time=6413.04s + Worker averages: + episode_total: mean=50.52s, total=3637.64s, count=72, min=168.6ms, max=179858.2ms + sensor_polling: mean=368.3ms, total=2351.29s, count=6384, min=284.6ms, max=1038.4ms + save_trajectories: mean=8.96s, total=161.27s, count=18, min=8088.9ms, max=10526.9ms + physics_step: mean=21.9ms, total=139.80s, count=6384, min=12.5ms, max=102.9ms + save_batch_prep: mean=3.31s, total=59.65s, count=18, min=3035.4ms, max=3735.1ms + task_specific_sample: mean=381.9ms, total=27.50s, count=72, min=164.9ms, max=887.2ms + task_sampling: mean=454.9ms, total=23.20s, count=51, min=325.2ms, max=890.0ms + task_sampling_failed: mean=329.8ms, total=6.93s, count=21, min=168.6ms, max=2601.3ms + scene_load: mean=2.40s, total=2.40s, count=1, min=2395.3ms, max=2395.3ms + scene_env_create: mean=1.50s, total=1.50s, count=1, min=1497.8ms, max=1497.8ms + scene_compile: mean=756.6ms, total=756.6ms, count=1, min=756.6ms, max=756.6ms + compile_mujoco: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms + compile_xml_load: mean=214.9ms, total=214.9ms, count=1, min=214.9ms, max=214.9ms + scene_randomize: mean=1.4ms, total=102.9ms, count=72, min=0.9ms, max=2.9ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms + compile_aux_policy_objects: mean=51.7ms, total=51.7ms, count=1, min=51.7ms, max=51.7ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + mj_forward_sync: mean=430.5us, total=31.0ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=30.4ms, total=30.4ms, count=1, min=30.4ms, max=30.4ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + compile_robot_add: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=14.0us, total=0.7ms, count=51, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 10:16:54 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 10:16:54 INFO: Success count: 18, Total count: 22 [pipeline.py: 1491] +05/12 10:16:54 INFO: Success rate: 81.82% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_016/experiment_config_20260512_101906.pkl b/3drawers/sim_chunks/chunk_016/experiment_config_20260512_101906.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7cd15b77e0f58d544b355fb5e1327b834cbd2201 --- /dev/null +++ b/3drawers/sim_chunks/chunk_016/experiment_config_20260512_101906.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:272c35dca973fe189ba2020ba61ca07738417d0e5e9c43d8ed1d10cbfb851660 +size 8146 diff --git a/3drawers/sim_chunks/chunk_016/running_log.log b/3drawers/sim_chunks/chunk_016/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..3b2246c527fd5852ccf3951b1757709a2e8b17a1 --- /dev/null +++ b/3drawers/sim_chunks/chunk_016/running_log.log @@ -0,0 +1,14811 @@ +05/12 10:19:06 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:19:06 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 10:19:06 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:19:06 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41603, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 10:19:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 10:19:06 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:19:06 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:19:06 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:19:06 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 10:19:06 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:19:06 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41601, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 10:19:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 10:19:06 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:19:06 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:19:06 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:19:06 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 10:19:06 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:19:06 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41604, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 10:19:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 10:19:06 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:19:06 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:19:06 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 10:19:06 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 10:19:06 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 10:19:06 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_016'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41602, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 10:19:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 10:19:06 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 10:19:06 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 10:19:06 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:19:06 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:19:06 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:19:06 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 10:19:09 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 10:19:09 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:19:09 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 10:19:09 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:19:09 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 10:19:09 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:19:09 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:19:09 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:19:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120696m [env.py: 870] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:09 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 10:19:09 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:19:09 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:19:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:09 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:09 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161985m [env.py: 870] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:09 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182662m [env.py: 870] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:09 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26831863 -1.10614186 -0.16198477] yaw=-49.9deg [env.py: 1019] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=17.7ms, retries=211.6ms, total=229.3ms [env.py: 1075] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -1.106, -0.162) [env.py: 1079] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=23.8ms, retries=292.4ms, total=316.1ms [env.py: 1105] +05/12 10:19:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:19:10 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.62226407 -0.88874205 -0.12069561] yaw=-64.6deg [env.py: 1019] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.8ms, retries=493.7ms, total=509.5ms [env.py: 1075] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.889, -0.121) [env.py: 1079] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 10:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:10 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:10 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149304m [env.py: 870] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=161.4ms, total=161.5ms [env.py: 1105] +05/12 10:19:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:19:11 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:19:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182834m [env.py: 870] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28003502 -1.1629714 -0.18283431] yaw=-50.3deg [env.py: 1019] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40126368 -0.79097686 -0.18283431] yaw=-60.9deg [env.py: 1019] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6607515 -0.96664771 -0.18283431] yaw=-63.3deg [env.py: 1019] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms [env.py: 1075] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.163, -0.183) [env.py: 1079] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 10:19:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:12 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:13 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 10:19:13 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 10:19:14 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 10:19:14 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 10:19:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193374m [env.py: 870] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43831988 -1.06808489 -0.19337439] yaw=-58.1deg [env.py: 1019] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.8ms, retries=186.3ms, total=202.1ms [env.py: 1075] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.068, -0.193) [env.py: 1079] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/12 10:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:14 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:38 INFO: [Worker 0] Warmed up parallel IK solver in 27.572s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:39 INFO: [Worker 0] Warmed up parallel IK solver in 29.308s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.903s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.716[m] 78.696[deg] [grasp_sample.py: 539] +05/12 10:19:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:41 INFO: [Worker 0] Warmed up parallel IK solver in 28.607s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:41 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:19:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196770m [env.py: 870] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.1ms, total=194.1ms [env.py: 1105] +05/12 10:19:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:19:42 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:19:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 89.445[deg] [grasp_sample.py: 539] +05/12 10:19:43 INFO: [Worker 0] Warmed up parallel IK solver in 29.000s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170501m [env.py: 870] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52327245 -0.74142319 -0.1705006 ] yaw=-76.9deg [env.py: 1019] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.887s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:44 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.727[m] 96.227[deg] [grasp_sample.py: 539] +05/12 10:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=834.2ms, total=834.2ms [env.py: 1075] +05/12 10:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.741, -0.171) [env.py: 1079] +05/12 10:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.9 deg [env.py: 1082] +05/12 10:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 10:19:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:45 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:19:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:45 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:46 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:19:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.711s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:46 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.628[m] 94.530[deg] [grasp_sample.py: 539] +05/12 10:19:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:19:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106816m [env.py: 870] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33858284 -1.20380823 -0.10681575] yaw=-39.7deg [env.py: 1019] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.1ms, total=217.1ms [env.py: 1075] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -1.204, -0.107) [env.py: 1079] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg [env.py: 1082] +05/12 10:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:19:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:46 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.425s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:19:46 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:19:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:19:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197966m [env.py: 870] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23742777 -1.02933129 -0.19796615] yaw=-54.5deg [env.py: 1019] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.8ms [env.py: 1075] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.029, -0.198) [env.py: 1079] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 10:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:47 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106619m [env.py: 870] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52457801 -0.75959011 -0.10661896] yaw=-63.3deg [env.py: 1019] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=294.0ms, total=294.0ms [env.py: 1075] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.760, -0.107) [env.py: 1079] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg [env.py: 1082] +05/12 10:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.654s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.704[m] 73.364[deg] [grasp_sample.py: 539] +05/12 10:19:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:48 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:19:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:19:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:19:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.696s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:19:50 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:19:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:19:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:19:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:19:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:19:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:19:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:19:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114088m [env.py: 870] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:19:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54449086 -1.01634337 -0.1140878 ] yaw=-59.4deg [env.py: 1019] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46425051 -0.89177173 -0.1140878 ] yaw=-71.1deg [env.py: 1019] +05/12 10:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:19:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.3ms, retries=306.8ms, total=307.1ms [env.py: 1075] +05/12 10:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -1.016, -0.114) [env.py: 1079] +05/12 10:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/12 10:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 10:19:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:19:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:19:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:19:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:19:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:19:52 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 10:19:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 10:19:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:19:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:19:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:19:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.226s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:19:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.653[m] 86.046[deg] [grasp_sample.py: 539] +05/12 10:19:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:19:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:19:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:19:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:20:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:20:04 INFO: [Worker 0] Feasible grasp found 461 (originally 461): w/ 0.717[m] 92.493[deg] [grasp_sample.py: 539] +05/12 10:20:05 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:20:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:20:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:20:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:20:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:20:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:20:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123869m [env.py: 870] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:20:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19253713 -1.0122712 -0.12386852] yaw=-37.9deg [env.py: 1019] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:20:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.4ms, total=203.4ms [env.py: 1075] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -1.012, -0.124) [env.py: 1079] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 10:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:20:07 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 10:20:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/12 10:20:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:20:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:20:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:20:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:20:08 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:20:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:20:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:20:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:20:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:20:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:20:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105381m [env.py: 870] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:20:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.8ms, total=200.9ms [env.py: 1105] +05/12 10:20:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:20:10 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:20:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:20:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:20:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:20:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:20:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:20:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:20:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118671m [env.py: 870] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:20:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.2ms, total=190.3ms [env.py: 1105] +05/12 10:20:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:20:11 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:20:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:20:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:20:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:20:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:20:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113934m [env.py: 870] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:20:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31098021 -0.98472182 -0.1139336 ] yaw=-42.4deg [env.py: 1019] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14231911 -1.10700005 -0.1139336 ] yaw=-43.5deg [env.py: 1019] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:20:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.6ms, total=209.6ms [env.py: 1075] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -0.985, -0.114) [env.py: 1079] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 10:20:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:20:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:20:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:20:13 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 10:20:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 10:20:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:20:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:20:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:20:15 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.791[m] 85.779[deg] [grasp_sample.py: 539] +05/12 10:20:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:20:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:20:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:20:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:20:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:20:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:21:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:31 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:21:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:21:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:21:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:21:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:21:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:21:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.170s, found 317 non-colliding grasps [grasp_sample.py: 465] +05/12 10:21:39 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:21:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.311s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:21:39 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.040[m] 1.725[deg] [grasp_sample.py: 539] +05/12 10:21:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:21:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:21:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:21:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:21:49 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/12 10:21:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:21:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:21:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:21:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:21:57 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 10:22:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:22:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:22:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.90s (batch: 3.28s, save: 8.61s) [pipeline.py: 300] +05/12 10:22:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=8.09s: + episode_total: mean=175.65s, total=175.65s, count=1, min=175647.5ms, max=175647.5ms + sensor_polling: mean=354.7ms, total=92.94s, count=262, min=318.6ms, max=621.6ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8615.0ms, max=8615.0ms + task_sampling: mean=8.09s, total=8.09s, count=1, min=8093.3ms, max=8093.3ms + scene_load: mean=7.64s, total=7.64s, count=1, min=7643.2ms, max=7643.2ms + scene_compile: mean=6.09s, total=6.09s, count=1, min=6091.4ms, max=6091.4ms + physics_step: mean=21.9ms, total=5.75s, count=262, min=15.6ms, max=89.5ms + compile_mujoco: mean=5.64s, total=5.64s, count=1, min=5636.3ms, max=5636.3ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3282.9ms, max=3282.9ms + scene_env_create: mean=1.41s, total=1.41s, count=1, min=1412.7ms, max=1412.7ms + task_specific_sample: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms + compile_xml_load: mean=371.1ms, total=371.1ms, count=1, min=371.1ms, max=371.1ms + scene_init: mean=94.8ms, total=94.8ms, count=1, min=94.8ms, max=94.8ms + compile_aux_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + compile_aux_policy_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + compile_robot_add: mean=24.7ms, total=24.7ms, count=1, min=24.7ms, max=24.7ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + scene_randomize: mean=864.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=355.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:22:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:22:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:22:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:22:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140285m [env.py: 870] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:22:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53277307 -0.83272825 -0.14028502] yaw=-69.3deg [env.py: 1019] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.0ms, total=212.1ms [env.py: 1075] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.533, -0.833, -0.140) [env.py: 1079] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg [env.py: 1082] +05/12 10:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:22:03 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 10:22:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:22:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:05 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:22:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:22:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:22:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.88s (batch: 2.82s, save: 9.06s) [pipeline.py: 300] +05/12 10:22:09 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.88s: + episode_total: mean=45.06s, total=180.23s, count=4, min=168.8ms, max=143536.7ms + sensor_polling: mean=365.6ms, total=100.91s, count=276, min=294.6ms, max=540.6ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9060.7ms, max=9060.7ms + physics_step: mean=24.7ms, total=6.81s, count=276, min=16.7ms, max=59.4ms + task_sampling_failed: mean=1.94s, total=3.88s, count=2, min=168.8ms, max=3711.5ms + scene_load: mean=3.39s, total=3.39s, count=1, min=3386.8ms, max=3386.8ms + save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2821.9ms, max=2821.9ms + scene_env_create: mean=1.97s, total=1.97s, count=1, min=1969.1ms, max=1969.1ms + task_specific_sample: mean=339.6ms, total=1.36s, count=4, min=166.1ms, max=468.0ms + scene_compile: mean=1.28s, total=1.28s, count=1, min=1279.5ms, max=1279.5ms + compile_mujoco: mean=935.8ms, total=935.8ms, count=1, min=935.8ms, max=935.8ms + task_sampling: mean=437.7ms, total=875.5ms, count=2, min=405.0ms, max=470.5ms + compile_xml_load: mean=258.8ms, total=258.8ms, count=1, min=258.8ms, max=258.8ms + scene_init: mean=93.7ms, total=93.7ms, count=1, min=93.7ms, max=93.7ms + compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + compile_robot_add: mean=24.8ms, total=24.8ms, count=1, min=24.8ms, max=24.8ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + scene_randomize: mean=1.0ms, total=4.0ms, count=4, min=0.9ms, max=1.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=451.8us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:22:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:22:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:22:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:22:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163187m [env.py: 870] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:22:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43533513 -1.10048508 -0.16318705] yaw=-54.6deg [env.py: 1019] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms [env.py: 1075] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.100, -0.163) [env.py: 1079] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:22:11 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 10:22:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:22:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.577s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.604[m] 79.236[deg] [grasp_sample.py: 539] +05/12 10:22:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:22:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:22:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:22:20 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:22:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.451s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:21 INFO: [Worker 0] Feasible grasp found 152 (originally 152): w/ 0.756[m] 89.368[deg] [grasp_sample.py: 539] +05/12 10:22:22 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:22:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:22:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:22:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:22:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198068m [env.py: 870] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:22:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=218.1ms, total=218.2ms [env.py: 1105] +05/12 10:22:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:22:24 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:22:25 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:22:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:22:25 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 10:22:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:22:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:22:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:22:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179939m [env.py: 870] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:22:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61082967 -0.7710419 -0.17993934] yaw=-62.7deg [env.py: 1019] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37965395 -1.12637741 -0.17993934] yaw=-48.4deg [env.py: 1019] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.3ms [env.py: 1075] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.771, -0.180) [env.py: 1079] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/12 10:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:22:26 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 10:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:22:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.373s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:27 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.768[m] 86.590[deg] [grasp_sample.py: 539] +05/12 10:22:28 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:22:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124621m [env.py: 870] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33102207 -0.97918648 -0.12462112] yaw=-60.1deg [env.py: 1019] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2529932 -1.16412546 -0.12462112] yaw=-44.2deg [env.py: 1019] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=426.5ms, total=426.5ms [env.py: 1075] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.979, -0.125) [env.py: 1079] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 10:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:22:30 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 10:22:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:22:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.771[m] 88.421[deg] [grasp_sample.py: 539] +05/12 10:22:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:22:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:22:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:22:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:22:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:22:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.88s (batch: 3.61s, save: 9.27s) [pipeline.py: 300] +05/12 10:22:38 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=6.30s: + episode_total: mean=41.44s, total=207.19s, count=5, min=202.4ms, max=166885.9ms + sensor_polling: mean=393.6ms, total=104.70s, count=266, min=298.7ms, max=575.2ms + save_trajectories: mean=9.27s, total=9.27s, count=1, min=9268.7ms, max=9268.7ms + physics_step: mean=25.0ms, total=6.64s, count=266, min=15.1ms, max=37.4ms + task_sampling: mean=1.57s, total=6.30s, count=4, min=509.4ms, max=4229.1ms + scene_load: mean=3.67s, total=3.67s, count=1, min=3674.5ms, max=3674.5ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.1ms, max=3607.1ms + task_specific_sample: mean=562.2ms, total=2.81s, count=5, min=199.0ms, max=1045.5ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1986.1ms, max=1986.1ms + scene_compile: mean=1.53s, total=1.53s, count=1, min=1526.0ms, max=1526.0ms + compile_mujoco: mean=916.2ms, total=916.2ms, count=1, min=916.2ms, max=916.2ms + compile_xml_load: mean=527.8ms, total=527.8ms, count=1, min=527.8ms, max=527.8ms + task_sampling_failed: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms + scene_init: mean=95.2ms, total=95.2ms, count=1, min=95.2ms, max=95.2ms + scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + asset_install_grasps: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms + scene_randomize: mean=1.1ms, total=5.7ms, count=5, min=1.0ms, max=1.5ms + asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms + mj_forward_sync: mean=426.0us, total=2.1ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=20.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:22:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:22:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:22:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:22:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193685m [env.py: 870] +05/12 10:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:22:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32080927 -1.15356932 -0.19368489] yaw=-40.6deg [env.py: 1019] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35434907 -1.16369014 -0.19368489] yaw=-37.4deg [env.py: 1019] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30605126 -1.23261 -0.19368489] yaw=-38.5deg [env.py: 1019] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.4ms, total=171.4ms [env.py: 1075] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -1.154, -0.194) [env.py: 1079] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 10:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 10:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:22:40 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 10:22:40 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:22:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:22:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:22:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:22:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:42 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.599[m] 79.749[deg] [grasp_sample.py: 539] +05/12 10:22:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:22:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:22:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:22:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:22:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:22:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.66s (batch: 3.01s, save: 9.65s) [pipeline.py: 300] +05/12 10:22:53 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=5.70s: + episode_total: mean=36.83s, total=221.00s, count=6, min=198.6ms, max=160612.2ms + sensor_polling: mean=349.6ms, total=104.87s, count=300, min=298.0ms, max=532.8ms + save_trajectories: mean=9.65s, total=9.65s, count=1, min=9651.2ms, max=9651.2ms + physics_step: mean=22.6ms, total=6.78s, count=300, min=14.9ms, max=33.8ms + task_sampling: mean=1.42s, total=5.70s, count=4, min=404.2ms, max=4377.1ms + scene_load: mean=3.59s, total=3.59s, count=1, min=3591.3ms, max=3591.3ms + save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3005.9ms, max=3005.9ms + task_specific_sample: mean=416.4ms, total=2.50s, count=6, min=195.3ms, max=783.6ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2022.3ms, max=2022.3ms + scene_compile: mean=1.43s, total=1.43s, count=1, min=1429.0ms, max=1429.0ms + compile_mujoco: mean=858.8ms, total=858.8ms, count=1, min=858.8ms, max=858.8ms + compile_xml_load: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms + task_sampling_failed: mean=204.0ms, total=407.9ms, count=2, min=198.5ms, max=209.4ms + scene_init: mean=96.2ms, total=96.2ms, count=1, min=96.2ms, max=96.2ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + scene_randomize: mean=1.1ms, total=6.5ms, count=6, min=0.9ms, max=1.3ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=411.7us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=18.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:22:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:22:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:22:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:22:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:22:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:22:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170141m [env.py: 870] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:22:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33131527 -1.0844944 -0.17014093] yaw=-38.3deg [env.py: 1019] +05/12 10:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:22:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.2ms [env.py: 1075] +05/12 10:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -1.084, -0.170) [env.py: 1079] +05/12 10:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg [env.py: 1082] +05/12 10:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 10:22:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:22:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:22:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:22:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:22:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:22:55 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 10:22:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 10:22:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:22:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:22:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:22:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.263s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:22:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.703[m] 89.022[deg] [grasp_sample.py: 539] +05/12 10:22:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:22:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:22:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:22:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:22:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:23:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:23:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:23:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:23:50 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:23:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:23:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:24:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:24:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:24:07 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 10:24:16 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:24:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:24:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:24:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.60s (batch: 3.16s, save: 9.44s) [pipeline.py: 300] +05/12 10:24:20 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s: + episode_total: mean=129.88s, total=129.88s, count=1, min=129878.5ms, max=129878.5ms + sensor_polling: mean=336.7ms, total=85.87s, count=255, min=295.3ms, max=519.9ms + save_trajectories: mean=9.44s, total=9.44s, count=1, min=9440.2ms, max=9440.2ms + physics_step: mean=22.5ms, total=5.73s, count=255, min=15.0ms, max=33.1ms + save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3155.3ms, max=3155.3ms + task_sampling: mean=423.2ms, total=423.2ms, count=1, min=423.2ms, max=423.2ms + task_specific_sample: mean=419.6ms, total=419.6ms, count=1, min=419.6ms, max=419.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=366.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:24:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:24:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:24:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:24:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:24:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:24:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146810m [env.py: 870] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:24:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47924186 -0.84191794 -0.14680993] yaw=-52.6deg [env.py: 1019] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:24:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=195.7ms, total=195.8ms [env.py: 1075] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -0.842, -0.147) [env.py: 1079] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/12 10:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:24:22 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 10:24:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 10:24:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:24:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:24:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:24:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.100s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:24:27 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.784[m] 94.093[deg] [grasp_sample.py: 539] +05/12 10:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:24:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:24:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:24:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:24:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:24:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:24:33 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 10:24:35 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:24:40 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:24:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:24:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:24:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.07s (batch: 3.22s, save: 8.85s) [pipeline.py: 300] +05/12 10:24:46 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s: + episode_total: mean=126.40s, total=126.40s, count=1, min=126398.7ms, max=126398.7ms + sensor_polling: mean=336.2ms, total=85.74s, count=255, min=302.6ms, max=530.4ms + save_trajectories: mean=8.85s, total=8.85s, count=1, min=8852.1ms, max=8852.1ms + physics_step: mean=22.0ms, total=5.62s, count=255, min=14.8ms, max=34.9ms + save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3221.8ms, max=3221.8ms + task_sampling: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms + task_specific_sample: mean=393.5ms, total=393.5ms, count=1, min=393.5ms, max=393.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=589.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:24:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:24:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:24:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:24:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109325m [env.py: 870] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52154691 -1.03494881 -0.10932521] yaw=-53.9deg [env.py: 1019] +05/12 10:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:24:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=297.6ms, total=297.7ms [env.py: 1075] +05/12 10:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -1.035, -0.109) [env.py: 1079] +05/12 10:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg [env.py: 1082] +05/12 10:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 10:24:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:24:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:24:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:24:48 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 10:24:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/12 10:24:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:24:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:24:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:24:55 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:24:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:24:55 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 10:24:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.931s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:24:55 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.661[m] 91.672[deg] [grasp_sample.py: 539] +05/12 10:24:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:24:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:24:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:24:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:25:01 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:25:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:25:01 INFO: [Worker 0] Preparing episode data: 277 timesteps [save_utils.py: 278] +05/12 10:25:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:25:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:25:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.65s (batch: 3.51s, save: 9.14s) [pipeline.py: 300] +05/12 10:25:08 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.51s: + episode_total: mean=45.29s, total=181.15s, count=4, min=228.8ms, max=158448.9ms + sensor_polling: mean=388.4ms, total=111.48s, count=287, min=323.5ms, max=663.9ms + save_trajectories: mean=9.14s, total=9.14s, count=1, min=9143.0ms, max=9143.0ms + physics_step: mean=23.0ms, total=6.60s, count=287, min=14.5ms, max=32.2ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3511.3ms, max=3511.3ms + task_specific_sample: mean=432.0ms, total=1.73s, count=4, min=224.3ms, max=662.8ms + task_sampling: mean=503.8ms, total=1.51s, count=3, min=402.3ms, max=665.0ms + task_sampling_failed: mean=228.8ms, total=228.8ms, count=1, min=228.8ms, max=228.8ms + scene_randomize: mean=1.5ms, total=5.8ms, count=4, min=0.9ms, max=2.0ms + mj_forward_sync: mean=439.7us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:25:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151350m [env.py: 870] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13237537 -1.04796935 -0.15134995] yaw=-39.6deg [env.py: 1019] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:25:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms [env.py: 1075] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.132, -1.048, -0.151) [env.py: 1079] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg [env.py: 1082] +05/12 10:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:25:10 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 10:25:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 10:25:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.397s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:25:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164870m [env.py: 870] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=558.7ms, total=558.7ms [env.py: 1105] +05/12 10:25:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:25:13 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:25:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:25:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:25:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.67s (batch: 3.31s, save: 9.36s) [pipeline.py: 300] +05/12 10:25:14 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.39s: + episode_total: mean=139.63s, total=139.63s, count=1, min=139633.1ms, max=139633.1ms + sensor_polling: mean=346.7ms, total=95.69s, count=276, min=303.0ms, max=578.3ms + save_trajectories: mean=9.36s, total=9.36s, count=1, min=9359.2ms, max=9359.2ms + physics_step: mean=22.5ms, total=6.21s, count=276, min=15.5ms, max=34.6ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3309.0ms, max=3309.0ms + task_sampling: mean=394.3ms, total=394.3ms, count=1, min=394.3ms, max=394.3ms + task_specific_sample: mean=390.4ms, total=390.4ms, count=1, min=390.4ms, max=390.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=438.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181971m [env.py: 870] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.1ms, total=195.2ms [env.py: 1105] +05/12 10:25:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:25:15 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:25:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182625m [env.py: 870] +05/12 10:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37228833 -1.10561092 -0.18262503] yaw=-53.5deg [env.py: 1019] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44612628 -1.03383045 -0.18262503] yaw=-48.5deg [env.py: 1019] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26230426 -1.0844229 -0.18262503] yaw=-33.1deg [env.py: 1019] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=467.9ms, total=467.9ms [env.py: 1075] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -1.106, -0.183) [env.py: 1079] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133940m [env.py: 870] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23183723 -1.18673224 -0.13394045] yaw=-31.7deg [env.py: 1019] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:25:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:25:16 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=207.0ms [env.py: 1075] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.187, -0.134) [env.py: 1079] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg [env.py: 1082] +05/12 10:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 10:25:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:25:16 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 10:25:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 10:25:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.400s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.614[m] 80.591[deg] [grasp_sample.py: 539] +05/12 10:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:19 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175519m [env.py: 870] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34946952 -0.99300547 -0.17551915] yaw=-60.6deg [env.py: 1019] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:25:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.7ms, total=216.7ms [env.py: 1075] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -0.993, -0.176) [env.py: 1079] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg [env.py: 1082] +05/12 10:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:25:20 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 10:25:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:25:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:25:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:25:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.759s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.494[m] 61.457[deg] [grasp_sample.py: 539] +05/12 10:25:25 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:25:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.443s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:25 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.720[m] 91.387[deg] [grasp_sample.py: 539] +05/12 10:25:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:25:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:25:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:25:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130657m [env.py: 870] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=213.6ms, total=213.7ms [env.py: 1105] +05/12 10:25:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:25:26 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:25:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177104m [env.py: 870] +05/12 10:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.6ms, total=232.6ms [env.py: 1105] +05/12 10:25:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:25:28 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:25:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126648m [env.py: 870] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.384s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:29 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.746[m] 88.442[deg] [grasp_sample.py: 539] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.9ms, total=190.9ms [env.py: 1105] +05/12 10:25:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:25:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:25:30 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:25:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107770m [env.py: 870] +05/12 10:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.66455057 -0.97836492 -0.10776968] yaw=-71.3deg [env.py: 1019] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:25:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.3ms, total=248.3ms [env.py: 1075] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.665, -0.978, -0.108) [env.py: 1079] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.3 deg [env.py: 1082] +05/12 10:25:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 10:25:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:25:31 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 10:25:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 10:25:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:25:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:25:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:25:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:25:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:25:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148113m [env.py: 870] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:25:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45211579 -1.05309849 -0.14811276] yaw=-50.4deg [env.py: 1019] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13596794 -1.05344546 -0.14811276] yaw=-37.8deg [env.py: 1019] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:25:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.618s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.659[m] 89.942[deg] [grasp_sample.py: 539] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:25:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.4ms [env.py: 1075] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.452, -1.053, -0.148) [env.py: 1079] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 10:25:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:25:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:25:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:25:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:25:32 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 10:25:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:25:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:25:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:25:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.564s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.642[m] 83.161[deg] [grasp_sample.py: 539] +05/12 10:25:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:25:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:25:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:25:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:25:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:25:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:25:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:25:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:25:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.627s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:25:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.545[m] 69.561[deg] [grasp_sample.py: 539] +05/12 10:25:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:25:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:26:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:26:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.032s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.464[m] 55.482[deg] [grasp_sample.py: 539] +05/12 10:26:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:26:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:26:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:26:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:26:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.545[m] 69.559[deg] [grasp_sample.py: 539] +05/12 10:26:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:26:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:26:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:26:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.390s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.464[m] 55.484[deg] [grasp_sample.py: 539] +05/12 10:26:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:26:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:26:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:19 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:26:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:26:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.950s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.545[m] 69.559[deg] [grasp_sample.py: 539] +05/12 10:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:26:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:26:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:26:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.491s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.464[m] 55.484[deg] [grasp_sample.py: 539] +05/12 10:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:26:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:26:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:26:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:26:36 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:26:36 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=1.12s: + episode_total: mean=20.84s, total=104.19s, count=5, min=198.5ms, max=65970.0ms + sensor_polling: mean=335.7ms, total=39.28s, count=117, min=303.5ms, max=559.6ms + physics_step: mean=18.8ms, total=2.20s, count=117, min=13.2ms, max=28.4ms + task_specific_sample: mean=352.4ms, total=1.76s, count=5, min=195.7ms, max=612.9ms + task_sampling: mean=558.4ms, total=1.12s, count=2, min=500.0ms, max=616.7ms + task_sampling_failed: mean=220.2ms, total=660.7ms, count=3, min=198.5ms, max=240.2ms + scene_randomize: mean=1.4ms, total=6.9ms, count=5, min=0.9ms, max=2.5ms + mj_forward_sync: mean=409.0us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=24.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167662m [env.py: 870] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.3ms [env.py: 1105] +05/12 10:26:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:26:38 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:26:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146945m [env.py: 870] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57178098 -0.94007334 -0.14694497] yaw=-58.0deg [env.py: 1019] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42609026 -0.92131354 -0.14694497] yaw=-59.7deg [env.py: 1019] +05/12 10:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:26:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=231.6ms, total=231.7ms [env.py: 1075] +05/12 10:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.940, -0.147) [env.py: 1079] +05/12 10:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 10:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 10:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:26:40 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 10:26:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 10:26:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:26:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:26:42 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/12 10:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:26:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:26:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:26:44 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:26:44 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=1.64s: + episode_total: mean=28.81s, total=86.42s, count=3, min=3493.4ms, max=72835.3ms + sensor_polling: mean=327.0ms, total=25.50s, count=78, min=305.1ms, max=521.2ms + task_sampling: mean=545.9ms, total=1.64s, count=3, min=422.7ms, max=780.6ms + task_specific_sample: mean=543.1ms, total=1.63s, count=3, min=420.2ms, max=777.0ms + physics_step: mean=18.3ms, total=1.42s, count=78, min=13.0ms, max=23.2ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.0ms, max=2.3ms + mj_forward_sync: mean=441.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=18.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:26:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174302m [env.py: 870] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25965162 -0.93435353 -0.17430152] yaw=-51.0deg [env.py: 1019] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:26:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.1ms, total=210.1ms [env.py: 1075] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -0.934, -0.174) [env.py: 1079] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 10:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:26:46 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 10:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:26:48 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:26:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107955m [env.py: 870] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.6ms, total=225.6ms [env.py: 1105] +05/12 10:26:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:26:49 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129212m [env.py: 870] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=209.9ms, total=210.0ms [env.py: 1105] +05/12 10:26:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:26:51 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:26:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.203s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:51 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.711[m] 88.959[deg] [grasp_sample.py: 539] +05/12 10:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171152m [env.py: 870] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23070546 -0.9769904 -0.17115202] yaw=-47.0deg [env.py: 1019] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.0ms, total=210.1ms [env.py: 1075] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -0.977, -0.171) [env.py: 1079] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 10:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:26:52 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 10:26:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 10:26:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:53 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:26:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:26:54 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190880m [env.py: 870] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44363687 -0.97592293 -0.19087991] yaw=-47.9deg [env.py: 1019] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:26:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=272.4ms, total=272.4ms [env.py: 1075] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.444, -0.976, -0.191) [env.py: 1079] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 10:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:26:54 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 10:26:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 10:26:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124242m [env.py: 870] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.8ms, total=205.8ms [env.py: 1105] +05/12 10:26:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:26:55 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:26:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:26:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:26:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.77s (batch: 3.47s, save: 10.30s) [pipeline.py: 300] +05/12 10:26:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145808m [env.py: 870] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40247974 -1.04546105 -0.14580759] yaw=-54.1deg [env.py: 1019] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:26:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.3ms, total=190.3ms [env.py: 1075] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -1.045, -0.146) [env.py: 1079] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 10:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:57 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.43s: + episode_total: mean=155.02s, total=155.02s, count=1, min=155022.2ms, max=155022.2ms + sensor_polling: mean=345.6ms, total=102.63s, count=297, min=294.9ms, max=613.0ms + save_trajectories: mean=10.30s, total=10.30s, count=1, min=10299.5ms, max=10299.5ms + physics_step: mean=22.7ms, total=6.73s, count=297, min=14.8ms, max=32.6ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3474.2ms, max=3474.2ms + task_sampling: mean=431.1ms, total=431.1ms, count=1, min=431.1ms, max=431.1ms + task_specific_sample: mean=427.2ms, total=427.2ms, count=1, min=427.2ms, max=427.2ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=634.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:26:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:26:57 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 10:26:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:26:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:26:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.859s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:26:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.695[m] 95.144[deg] [grasp_sample.py: 539] +05/12 10:26:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:26:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:26:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:26:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:26:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:26:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113869m [env.py: 870] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:26:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54158657 -1.03687891 -0.11386946] yaw=-64.1deg [env.py: 1019] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18337717 -1.01846633 -0.11386946] yaw=-50.5deg [env.py: 1019] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:26:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=225.7ms, total=225.8ms [env.py: 1075] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -1.037, -0.114) [env.py: 1079] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 10:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:26:59 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:26:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:26:59 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 10:26:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:26:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:26:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:26:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.672s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:27:00 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.668[m] 92.585[deg] [grasp_sample.py: 539] +05/12 10:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100224m [env.py: 870] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23507384 -1.15855244 -0.10022374] yaw=-50.1deg [env.py: 1019] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.6ms [env.py: 1075] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.159, -0.100) [env.py: 1079] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/12 10:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:27:00 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 10:27:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:27:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:27:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:27:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.177s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:27:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.682[m] 91.162[deg] [grasp_sample.py: 539] +05/12 10:27:02 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:27:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.939s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:27:03 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.742[m] 78.734[deg] [grasp_sample.py: 539] +05/12 10:27:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184523m [env.py: 870] +05/12 10:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.6ms, total=194.7ms [env.py: 1105] +05/12 10:27:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:27:04 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:27:04 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142632m [env.py: 870] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.8ms, total=198.8ms [env.py: 1105] +05/12 10:27:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:27:05 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141613m [env.py: 870] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58559114 -0.91944847 -0.14161346] yaw=-54.6deg [env.py: 1019] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15177843 -0.9845462 -0.14161346] yaw=-52.6deg [env.py: 1019] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.3ms, total=197.3ms [env.py: 1075] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.919, -0.142) [env.py: 1079] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:27:06 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 10:27:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182513m [env.py: 870] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=302.3ms, total=302.3ms [env.py: 1105] +05/12 10:27:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:27:07 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:27:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189992m [env.py: 870] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.832s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:27:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.718[m] 75.801[deg] [grasp_sample.py: 539] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.6ms, total=185.7ms [env.py: 1105] +05/12 10:27:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:27:08 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:27:09 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:27:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125677m [env.py: 870] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=525.8ms, total=525.8ms [env.py: 1105] +05/12 10:27:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:27:10 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:27:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129405m [env.py: 870] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.4ms, total=232.5ms [env.py: 1105] +05/12 10:27:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:27:11 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:27:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115819m [env.py: 870] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27181554 -1.00890548 -0.11581925] yaw=-57.7deg [env.py: 1019] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=372.1ms, total=372.1ms [env.py: 1075] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.009, -0.116) [env.py: 1079] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg [env.py: 1082] +05/12 10:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:27:12 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 10:27:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144852m [env.py: 870] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27600293 -0.88413472 -0.14485233] yaw=-55.3deg [env.py: 1019] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50416783 -1.01104991 -0.14485233] yaw=-57.6deg [env.py: 1019] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=218.3ms, total=218.3ms [env.py: 1075] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.884, -0.145) [env.py: 1079] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 10:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:27:13 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 10:27:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.423s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:27:15 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:27:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132721m [env.py: 870] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12885795 -1.08082106 -0.13272138] yaw=-47.0deg [env.py: 1019] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40983059 -0.77439304 -0.13272138] yaw=-49.8deg [env.py: 1019] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23433914 -0.93194393 -0.13272138] yaw=-48.4deg [env.py: 1019] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.7ms, total=305.8ms [env.py: 1075] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -1.081, -0.133) [env.py: 1079] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 10:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:27:17 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 10:27:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.138s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:27:17 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.742[m] 87.278[deg] [grasp_sample.py: 539] +05/12 10:27:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:27:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:27:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:27:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.376s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:27:18 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:27:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101977m [env.py: 870] +05/12 10:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46467731 -0.81461979 -0.10197744] yaw=-65.5deg [env.py: 1019] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.2ms, total=257.3ms [env.py: 1075] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.815, -0.102) [env.py: 1079] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg [env.py: 1082] +05/12 10:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 10:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:27:20 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 10:27:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.383s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:27:21 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:27:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197120m [env.py: 870] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1105] +05/12 10:27:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:27:23 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:27:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:27:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:27:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:27:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:27:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:27:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195855m [env.py: 870] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:27:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59611827 -0.97493497 -0.19585542] yaw=-62.0deg [env.py: 1019] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48244445 -0.9604439 -0.19585542] yaw=-52.0deg [env.py: 1019] +05/12 10:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:27:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.9ms, total=201.9ms [env.py: 1075] +05/12 10:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.975, -0.196) [env.py: 1079] +05/12 10:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/12 10:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 10:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:27:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:27:25 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 10:27:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:27:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:27:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:27:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:27:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.858s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:27:27 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.618[m] 76.708[deg] [grasp_sample.py: 539] +05/12 10:27:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:27:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:27:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:27:29 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:27:51 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:27:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:27:51 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 10:27:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:28:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:28:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:28:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.30s (batch: 3.35s, save: 8.95s) [pipeline.py: 300] +05/12 10:28:04 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.85s: + episode_total: mean=42.69s, total=170.76s, count=4, min=203.1ms, max=167991.8ms + sensor_polling: mean=409.0ms, total=114.10s, count=279, min=312.5ms, max=682.5ms + save_trajectories: mean=8.95s, total=8.95s, count=1, min=8948.5ms, max=8948.5ms + physics_step: mean=25.6ms, total=7.13s, count=279, min=14.8ms, max=80.2ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3351.9ms, max=3351.9ms + task_specific_sample: mean=400.9ms, total=1.60s, count=4, min=200.2ms, max=563.6ms + task_sampling: mean=422.9ms, total=845.8ms, count=2, min=402.8ms, max=443.0ms + task_sampling_failed: mean=385.3ms, total=770.6ms, count=2, min=203.1ms, max=567.5ms + scene_randomize: mean=1.3ms, total=5.3ms, count=4, min=0.9ms, max=2.4ms + mj_forward_sync: mean=396.8us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:28:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:28:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:28:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:28:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:28:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:28:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:28:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118806m [env.py: 870] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:28:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37548245 -1.15728721 -0.11880629] yaw=-36.3deg [env.py: 1019] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:28:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.1ms, total=226.2ms [env.py: 1075] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -1.157, -0.119) [env.py: 1079] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg [env.py: 1082] +05/12 10:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:28:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:28:06 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 10:28:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 10:28:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:28:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:28:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:28:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.381s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:28:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.669[m] 75.772[deg] [grasp_sample.py: 539] +05/12 10:28:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:28:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:28:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:28:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:28:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:28:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:28:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:28:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:28:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 363 non-colliding grasps [grasp_sample.py: 465] +05/12 10:28:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:28:24 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.046[m] 5.171[deg] [grasp_sample.py: 539] +05/12 10:28:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:28:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:28:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:28:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:28:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:28:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:28:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:28:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 340 non-colliding grasps [grasp_sample.py: 465] +05/12 10:28:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:28:46 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.072[m] 0.559[deg] [grasp_sample.py: 539] +05/12 10:28:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:28:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:28:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:28:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:28:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:29:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:29:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:29:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 318 non-colliding grasps [grasp_sample.py: 465] +05/12 10:29:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.459s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:29:06 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.062[m] 2.769[deg] [grasp_sample.py: 539] +05/12 10:29:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:29:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:29:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:29:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:29:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:29:13 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 10:29:13 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:29:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:29:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:23 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:29:23 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/12 10:29:23 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=False episode_total=3.61s: + episode_total: mean=13.81s, total=151.90s, count=11, min=204.7ms, max=119014.2ms + sensor_polling: mean=337.1ms, total=101.12s, count=300, min=300.0ms, max=629.6ms + physics_step: mean=22.6ms, total=6.79s, count=300, min=15.0ms, max=33.8ms + task_specific_sample: mean=386.2ms, total=4.25s, count=11, min=200.0ms, max=506.7ms + task_sampling: mean=451.8ms, total=3.61s, count=8, min=400.2ms, max=509.3ms + task_sampling_failed: mean=220.8ms, total=662.5ms, count=3, min=204.6ms, max=241.4ms + scene_randomize: mean=1.1ms, total=12.1ms, count=11, min=0.9ms, max=1.4ms + mj_forward_sync: mean=425.8us, total=4.7ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=11.4us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:29:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143287m [env.py: 870] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=226.4ms, total=226.4ms [env.py: 1105] +05/12 10:29:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:29:25 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:29:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:29:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:29:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.58s (batch: 3.66s, save: 8.92s) [pipeline.py: 300] +05/12 10:29:26 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.22s: + episode_total: mean=25.63s, total=153.80s, count=6, min=214.2ms, max=149269.8ms + sensor_polling: mean=371.1ms, total=100.56s, count=271, min=300.2ms, max=663.5ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8919.6ms, max=8919.6ms + physics_step: mean=24.0ms, total=6.49s, count=271, min=15.1ms, max=45.6ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3661.1ms, max=3661.1ms + task_specific_sample: mean=311.3ms, total=1.87s, count=6, min=210.8ms, max=412.5ms + task_sampling: mean=406.2ms, total=1.22s, count=3, min=390.3ms, max=415.7ms + task_sampling_failed: mean=222.2ms, total=666.6ms, count=3, min=214.2ms, max=234.5ms + scene_randomize: mean=1.3ms, total=7.9ms, count=6, min=1.0ms, max=1.8ms + mj_forward_sync: mean=444.1us, total=2.7ms, count=6, min=0.4ms, max=0.5ms + policy_setup: mean=19.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:29:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141427m [env.py: 870] +05/12 10:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=316.7ms, total=316.8ms [env.py: 1105] +05/12 10:29:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:29:27 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:29:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114127m [env.py: 870] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=176.9ms, total=176.9ms [env.py: 1105] +05/12 10:29:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:29:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:29:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193589m [env.py: 870] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.4ms, total=193.4ms [env.py: 1105] +05/12 10:29:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:29:28 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143411m [env.py: 870] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55727133 -0.93652286 -0.1434107 ] yaw=-53.0deg [env.py: 1019] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=199.9ms [env.py: 1075] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.937, -0.143) [env.py: 1079] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 10:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:29:29 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 10:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 10:29:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:29:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128614m [env.py: 870] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45076492 -1.07939881 -0.12861445] yaw=-58.9deg [env.py: 1019] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:29:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.4ms, total=203.5ms [env.py: 1075] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -1.079, -0.129) [env.py: 1079] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/12 10:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:29:30 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 10:29:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 10:29:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:29:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.373s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:29:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.629[m] 85.318[deg] [grasp_sample.py: 539] +05/12 10:29:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:29:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:29:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:29:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:29:34 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 10:29:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.090s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:29:34 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.740[m] 93.749[deg] [grasp_sample.py: 539] +05/12 10:29:35 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:29:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177662m [env.py: 870] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19794874 -1.09912155 -0.17766204] yaw=-40.1deg [env.py: 1019] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:29:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.3ms [env.py: 1075] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.099, -0.178) [env.py: 1079] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/12 10:29:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:29:37 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 10:29:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 10:29:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:29:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:29:39 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.732[m] 92.753[deg] [grasp_sample.py: 539] +05/12 10:29:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:29:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:29:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:29:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:29:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:29:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.11s (batch: 3.67s, save: 9.45s) [pipeline.py: 300] +05/12 10:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:47 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.09s: + episode_total: mean=23.01s, total=161.09s, count=7, min=192.7ms, max=155635.3ms + sensor_polling: mean=364.9ms, total=102.91s, count=282, min=302.1ms, max=630.3ms + save_trajectories: mean=9.45s, total=9.45s, count=1, min=9449.4ms, max=9449.4ms + physics_step: mean=24.1ms, total=6.81s, count=282, min=19.9ms, max=57.7ms + save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3665.4ms, max=3665.4ms + task_specific_sample: mean=358.8ms, total=2.51s, count=7, min=190.3ms, max=607.5ms + task_sampling_failed: mean=290.7ms, total=1.45s, count=5, min=192.7ms, max=541.1ms + task_sampling: mean=543.4ms, total=1.09s, count=2, min=476.6ms, max=610.2ms + scene_randomize: mean=1.2ms, total=8.4ms, count=7, min=0.9ms, max=2.3ms + mj_forward_sync: mean=421.2us, total=2.9ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175663m [env.py: 870] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3519351 -0.87757331 -0.1756634 ] yaw=-61.9deg [env.py: 1019] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:29:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=728.3ms, total=728.3ms [env.py: 1075] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -0.878, -0.176) [env.py: 1079] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg [env.py: 1082] +05/12 10:29:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:29:50 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 10:29:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 10:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.806s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:29:52 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.749[m] 82.715[deg] [grasp_sample.py: 539] +05/12 10:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:53 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:29:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:29:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:29:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:29:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:29:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:29:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199894m [env.py: 870] +05/12 10:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:29:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5720385 -0.98993923 -0.19989355] yaw=-66.9deg [env.py: 1019] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46469863 -0.89096991 -0.19989355] yaw=-69.0deg [env.py: 1019] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:29:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=562.9ms, total=563.0ms [env.py: 1075] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.990, -0.200) [env.py: 1079] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 10:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 10:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:29:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:29:55 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 10:29:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:29:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:29:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.589[m] 86.319[deg] [grasp_sample.py: 539] +05/12 10:29:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:29:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:29:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:29:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:29:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:29:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:29:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:29:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.624s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:30:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.475[m] 60.729[deg] [grasp_sample.py: 539] +05/12 10:30:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:30:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:30:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:02 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:30:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:30:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:30:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:30:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:30:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.475[m] 60.731[deg] [grasp_sample.py: 539] +05/12 10:30:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:30:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:30:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:22 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:30:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:30:22 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 10:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:30:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:30:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:30:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:30:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.662s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:30:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.475[m] 60.731[deg] [grasp_sample.py: 539] +05/12 10:30:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:30:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:30:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:30:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:30:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.00s (batch: 3.99s, save: 9.02s) [pipeline.py: 300] +05/12 10:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.45s: + episode_total: mean=150.46s, total=150.46s, count=1, min=150455.6ms, max=150455.6ms + sensor_polling: mean=386.0ms, total=104.61s, count=271, min=343.7ms, max=580.7ms + save_trajectories: mean=9.02s, total=9.02s, count=1, min=9016.6ms, max=9016.6ms + physics_step: mean=22.9ms, total=6.20s, count=271, min=14.9ms, max=65.8ms + save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3988.1ms, max=3988.1ms + task_sampling: mean=449.1ms, total=449.1ms, count=1, min=449.1ms, max=449.1ms + task_specific_sample: mean=446.2ms, total=446.2ms, count=1, min=446.2ms, max=446.2ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:30:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105863m [env.py: 870] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18985323 -1.08130861 -0.10586335] yaw=-48.0deg [env.py: 1019] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39781891 -0.95442584 -0.10586335] yaw=-62.5deg [env.py: 1019] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:30:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=929.1ms, total=929.1ms [env.py: 1075] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.190, -1.081, -0.106) [env.py: 1079] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg [env.py: 1082] +05/12 10:30:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:30:38 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 10:30:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 10:30:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:30:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:30:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:30:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.296s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:30:40 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103267m [env.py: 870] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45899232 -0.86592624 -0.10326655] yaw=-57.1deg [env.py: 1019] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26820342 -0.94521658 -0.10326655] yaw=-39.4deg [env.py: 1019] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:30:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=503.6ms, total=503.6ms [env.py: 1075] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -0.866, -0.103) [env.py: 1079] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg [env.py: 1082] +05/12 10:30:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:30:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:30:41 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:30:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:30:41 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 10:30:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:30:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:30:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:30:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:42 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:30:42 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=0.43s: + episode_total: mean=18.21s, total=72.86s, count=4, min=201.0ms, max=72091.6ms + sensor_polling: mean=331.5ms, total=24.20s, count=73, min=299.3ms, max=534.6ms + physics_step: mean=18.9ms, total=1.38s, count=73, min=12.9ms, max=54.9ms + task_specific_sample: mean=296.0ms, total=1.18s, count=4, min=198.2ms, max=431.2ms + task_sampling_failed: mean=254.8ms, total=764.3ms, count=3, min=201.0ms, max=325.4ms + task_sampling: mean=433.2ms, total=433.2ms, count=1, min=433.2ms, max=433.2ms + scene_randomize: mean=1.1ms, total=4.6ms, count=4, min=0.9ms, max=1.5ms + mj_forward_sync: mean=418.0us, total=1.7ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=12.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:30:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117347m [env.py: 870] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40062556 -0.92597424 -0.11734666] yaw=-51.1deg [env.py: 1019] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54294471 -0.77506357 -0.11734666] yaw=-72.2deg [env.py: 1019] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:30:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=200.9ms [env.py: 1075] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.401, -0.926, -0.117) [env.py: 1079] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/12 10:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:30:43 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 10:30:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:30:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:30:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:30:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.798s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:30:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.768[m] 95.235[deg] [grasp_sample.py: 539] +05/12 10:30:50 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:30:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:30:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152979m [env.py: 870] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=301.0ms, total=301.0ms [env.py: 1105] +05/12 10:30:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:30:51 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:30:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172555m [env.py: 870] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25844177 -0.94940609 -0.17255497] yaw=-54.1deg [env.py: 1019] +05/12 10:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:30:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=303.4ms, total=303.4ms [env.py: 1075] +05/12 10:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.258, -0.949, -0.173) [env.py: 1079] +05/12 10:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg [env.py: 1082] +05/12 10:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 10:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:30:53 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 10:30:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:30:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:30:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:30:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:30:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:30:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.842s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:30:55 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142460m [env.py: 870] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.2ms, total=190.2ms [env.py: 1105] +05/12 10:30:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:30:56 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140824m [env.py: 870] +05/12 10:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.7ms, total=190.7ms [env.py: 1105] +05/12 10:30:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:30:58 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:30:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:30:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:30:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:30:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:30:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:30:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:30:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160848m [env.py: 870] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:30:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:30:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.8ms, total=197.9ms [env.py: 1105] +05/12 10:30:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:30:59 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194958m [env.py: 870] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48034594 -0.92994751 -0.19495825] yaw=-68.0deg [env.py: 1019] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30791259 -0.96669392 -0.19495825] yaw=-46.3deg [env.py: 1019] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.0ms, total=200.0ms [env.py: 1075] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.930, -0.195) [env.py: 1079] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg [env.py: 1082] +05/12 10:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 10:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:01 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.888s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.698[m] 90.885[deg] [grasp_sample.py: 539] +05/12 10:31:04 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:31:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147165m [env.py: 870] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.9ms, total=189.9ms [env.py: 1105] +05/12 10:31:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:31:05 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154648m [env.py: 870] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22091521 -1.13610389 -0.15464842] yaw=-40.9deg [env.py: 1019] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms [env.py: 1075] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.136, -0.155) [env.py: 1079] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.9 deg [env.py: 1082] +05/12 10:31:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:07 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:07 INFO: [Worker 0] Object is not in grasp! 0.00139 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:31:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:31:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.444s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:08 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.548[deg] [grasp_sample.py: 539] +05/12 10:31:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:31:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:31:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.718[m] 74.612[deg] [grasp_sample.py: 539] +05/12 10:31:10 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:31:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 28.170s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:10 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 10:31:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195607m [env.py: 870] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174690m [env.py: 870] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=278.2ms, total=278.2ms [env.py: 1105] +05/12 10:31:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:31:11 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=313.2ms, total=313.2ms [env.py: 1105] +05/12 10:31:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:31:11 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123281m [env.py: 870] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195049m [env.py: 870] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=480.2ms, total=480.3ms [env.py: 1105] +05/12 10:31:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:31:13 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=593.6ms, total=593.7ms [env.py: 1105] +05/12 10:31:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:31:13 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167371m [env.py: 870] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58822425 -1.00230143 -0.16737129] yaw=-62.9deg [env.py: 1019] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=304.0ms, total=304.1ms [env.py: 1075] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.588, -1.002, -0.167) [env.py: 1079] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104770m [env.py: 870] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:15 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=422.1ms, total=422.1ms [env.py: 1105] +05/12 10:31:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:31:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.177s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.629[m] 89.433[deg] [grasp_sample.py: 539] +05/12 10:31:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:31:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:31:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145331m [env.py: 870] +05/12 10:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25035124 -1.07878337 -0.14533121] yaw=-31.5deg [env.py: 1019] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.2ms, total=275.2ms [env.py: 1075] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -1.079, -0.145) [env.py: 1079] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.5 deg [env.py: 1082] +05/12 10:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 10:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:17 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:31:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.695s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:22 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.737[m] 72.318[deg] [grasp_sample.py: 539] +05/12 10:31:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:31:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:31:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:31:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:27 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:31:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:32 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:31:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 380 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.371s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:33 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.533[deg] [grasp_sample.py: 539] +05/12 10:31:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:31:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:31:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:31:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:31:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:31:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.573s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.453[m] 58.555[deg] [grasp_sample.py: 539] +05/12 10:31:44 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:31:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139044m [env.py: 870] +05/12 10:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28188373 -1.10605067 -0.13904364] yaw=-44.7deg [env.py: 1019] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30934812 -1.25091663 -0.13904364] yaw=-32.8deg [env.py: 1019] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.7ms, total=250.7ms [env.py: 1075] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.106, -0.139) [env.py: 1079] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg [env.py: 1082] +05/12 10:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/12 10:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:46 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.456s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:31:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.685[m] 84.657[deg] [grasp_sample.py: 539] +05/12 10:31:49 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:31:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:31:49 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 10:31:50 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:31:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136784m [env.py: 870] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28346332 -0.94663092 -0.13678449] yaw=-55.8deg [env.py: 1019] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.8ms [env.py: 1075] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -0.947, -0.137) [env.py: 1079] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/12 10:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:51 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.350s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:31:53 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:31:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181558m [env.py: 870] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.0ms, total=191.0ms [env.py: 1105] +05/12 10:31:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:31:54 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:31:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136687m [env.py: 870] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33114572 -0.89281507 -0.13668735] yaw=-55.7deg [env.py: 1019] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.3ms, total=192.4ms [env.py: 1075] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.893, -0.137) [env.py: 1079] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/12 10:31:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:56 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:31:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:31:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.420s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:31:58 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:31:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:31:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:31:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:31:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:31:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:31:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181052m [env.py: 870] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:31:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44514752 -1.00681112 -0.18105211] yaw=-47.3deg [env.py: 1019] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:31:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.7ms, total=232.7ms [env.py: 1075] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -1.007, -0.181) [env.py: 1079] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/12 10:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:31:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:31:59 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 10:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:31:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:00 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:32:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.938s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:03 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.655[m] 96.598[deg] [grasp_sample.py: 539] +05/12 10:32:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:32:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:32:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.25s (batch: 3.48s, save: 9.77s) [pipeline.py: 300] +05/12 10:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:32:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:32:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:03 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.85s: + episode_total: mean=51.24s, total=153.72s, count=3, min=186.9ms, max=146660.4ms + sensor_polling: mean=354.4ms, total=99.94s, count=282, min=299.5ms, max=658.6ms + save_trajectories: mean=9.77s, total=9.77s, count=1, min=9767.2ms, max=9767.2ms + physics_step: mean=23.2ms, total=6.54s, count=282, min=14.8ms, max=98.7ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3484.3ms, max=3484.3ms + task_specific_sample: mean=343.3ms, total=1.03s, count=3, min=182.9ms, max=447.4ms + task_sampling: mean=426.1ms, total=852.1ms, count=2, min=402.0ms, max=450.1ms + task_sampling_failed: mean=186.9ms, total=186.9ms, count=1, min=186.9ms, max=186.9ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.0ms, max=2.3ms + mj_forward_sync: mean=427.7us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:32:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:32:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:32:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:32:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:32:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:32:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:32:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175946m [env.py: 870] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:32:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51996015 -0.77175099 -0.17594629] yaw=-54.9deg [env.py: 1019] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52580409 -0.81183227 -0.17594629] yaw=-70.0deg [env.py: 1019] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4828189 -1.0266593 -0.17594629] yaw=-56.6deg [env.py: 1019] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:32:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms [env.py: 1075] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.772, -0.176) [env.py: 1079] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/12 10:32:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:32:05 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 10:32:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:32:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:32:07 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:32:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:32:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:32:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:32:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:32:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:32:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100770m [env.py: 870] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:32:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.66531696 -0.92304151 -0.10077042] yaw=-78.5deg [env.py: 1019] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57013737 -0.88709712 -0.10077042] yaw=-63.2deg [env.py: 1019] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:32:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=337.3ms, total=337.4ms [env.py: 1075] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.665, -0.923, -0.101) [env.py: 1079] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.5 deg [env.py: 1082] +05/12 10:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:32:08 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 10:32:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 10:32:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.537s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:10 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.740[m] 97.402[deg] [grasp_sample.py: 539] +05/12 10:32:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:32:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:32:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:22 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:32:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:32:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:32:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:32:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:32:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.34s (batch: 3.64s, save: 9.70s) [pipeline.py: 300] +05/12 10:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:32:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:32:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.75s: + episode_total: mean=83.19s, total=166.38s, count=2, min=4436.5ms, max=161943.3ms + sensor_polling: mean=370.4ms, total=111.12s, count=300, min=298.9ms, max=721.1ms + save_trajectories: mean=9.70s, total=9.70s, count=1, min=9701.6ms, max=9701.6ms + physics_step: mean=24.5ms, total=7.36s, count=300, min=14.8ms, max=62.0ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3635.8ms, max=3635.8ms + task_sampling: mean=877.2ms, total=1.75s, count=2, min=775.4ms, max=979.1ms + task_specific_sample: mean=874.0ms, total=1.75s, count=2, min=772.9ms, max=975.1ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=0.9ms, max=2.8ms + mj_forward_sync: mean=402.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:32:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:32:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:32:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:32:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:32:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:32:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111782m [env.py: 870] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:32:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2940547 -0.97221761 -0.11178209] yaw=-43.6deg [env.py: 1019] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34269265 -0.844963 -0.11178209] yaw=-54.5deg [env.py: 1019] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:32:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.7ms [env.py: 1075] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -0.972, -0.112) [env.py: 1079] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg [env.py: 1082] +05/12 10:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:32:38 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 10:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 10:32:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.233s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:43 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.784[m] 92.110[deg] [grasp_sample.py: 539] +05/12 10:32:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.237s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:44 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.593[m] 73.287[deg] [grasp_sample.py: 539] +05/12 10:32:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:32:44 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:32:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:32:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:32:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:32:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:32:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187367m [env.py: 870] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48719907 -0.92697337 -0.1873667 ] yaw=-53.1deg [env.py: 1019] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.6ms, total=262.6ms [env.py: 1075] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -0.927, -0.187) [env.py: 1079] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 10:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:32:46 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 10:32:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:32:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.523s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.658[m] 85.000[deg] [grasp_sample.py: 539] +05/12 10:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:49 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:32:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:32:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:32:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:32:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:32:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120214m [env.py: 870] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:32:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.67433312 -0.95781875 -0.12021365] yaw=-71.1deg [env.py: 1019] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:32:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms [env.py: 1075] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.674, -0.958, -0.120) [env.py: 1079] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/12 10:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:32:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:32:51 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 10:32:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 10:32:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.466s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:32:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.672[m] 88.173[deg] [grasp_sample.py: 539] +05/12 10:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:32:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:32:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:32:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:32:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:32:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:32:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:32:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.463s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:08 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.571[m] 75.041[deg] [grasp_sample.py: 539] +05/12 10:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:33:09 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:33:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:33:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:33:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:33:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:33:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172453m [env.py: 870] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:33:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62486871 -0.81958415 -0.17245316] yaw=-73.3deg [env.py: 1019] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:33:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=249.2ms, total=249.3ms [env.py: 1075] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.820, -0.172) [env.py: 1079] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/12 10:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:33:11 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 10:33:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 10:33:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.490s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.729[m] 88.837[deg] [grasp_sample.py: 539] +05/12 10:33:14 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:33:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:33:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:33:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:33:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:33:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:33:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177546m [env.py: 870] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:33:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.67820655 -0.97091355 -0.17754568] yaw=-61.2deg [env.py: 1019] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25526089 -0.94439988 -0.17754568] yaw=-56.9deg [env.py: 1019] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55364768 -0.93177405 -0.17754568] yaw=-68.7deg [env.py: 1019] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:33:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=361.8ms, total=361.8ms [env.py: 1075] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.678, -0.971, -0.178) [env.py: 1079] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg [env.py: 1082] +05/12 10:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:33:16 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 10:33:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:33:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:33:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:33:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.291s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:22 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.650[m] 92.757[deg] [grasp_sample.py: 539] +05/12 10:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:33:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:33:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:33:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.804s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:29 INFO: [Worker 0] Feasible grasp found 372 (originally 372): w/ 0.547[m] 63.622[deg] [grasp_sample.py: 539] +05/12 10:33:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:33:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:33:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:33:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:33:34 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 10:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:33:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:33:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:33:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:33:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.04s (batch: 3.61s, save: 9.43s) [pipeline.py: 300] +05/12 10:33:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:48 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.548[m] 63.263[deg] [grasp_sample.py: 539] +05/12 10:33:48 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.40s: + episode_total: mean=30.80s, total=184.77s, count=6, min=323.0ms, max=151715.3ms + sensor_polling: mean=370.6ms, total=104.52s, count=282, min=319.8ms, max=592.5ms + save_trajectories: mean=9.43s, total=9.43s, count=1, min=9427.8ms, max=9427.8ms + physics_step: mean=22.1ms, total=6.23s, count=282, min=15.3ms, max=36.7ms + task_specific_sample: mean=623.1ms, total=3.74s, count=6, min=319.5ms, max=1190.3ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3611.0ms, max=3611.0ms + task_sampling: mean=799.9ms, total=2.40s, count=3, min=498.9ms, max=1193.9ms + task_sampling_failed: mean=453.8ms, total=1.36s, count=3, min=323.0ms, max=603.2ms + scene_randomize: mean=1.4ms, total=8.5ms, count=6, min=1.0ms, max=2.5ms + mj_forward_sync: mean=489.5us, total=2.9ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=16.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:33:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:33:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:33:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:33:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:33:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:33:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:33:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:33:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:33:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:33:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196242m [env.py: 870] +05/12 10:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:33:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.65812405 -0.90909205 -0.1962424 ] yaw=-76.3deg [env.py: 1019] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:33:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=332.2ms, total=332.3ms [env.py: 1075] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.658, -0.909, -0.196) [env.py: 1079] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg [env.py: 1082] +05/12 10:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 10:33:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:33:50 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 10:33:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 10:33:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.816s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:50 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.484[m] 61.186[deg] [grasp_sample.py: 539] +05/12 10:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:33:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:33:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:33:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141831m [env.py: 870] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57405698 -0.95324479 -0.14183101] yaw=-65.7deg [env.py: 1019] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:33:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.1ms, total=203.2ms [env.py: 1075] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.953, -0.142) [env.py: 1079] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg [env.py: 1082] +05/12 10:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:33:51 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 10:33:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 10:33:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:51 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.650[m] 89.944[deg] [grasp_sample.py: 539] +05/12 10:33:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:33:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:33:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:33:52 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:33:52 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 10:33:53 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:33:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:33:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:33:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:33:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:33:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:33:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128547m [env.py: 870] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:33:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39095943 -1.01508654 -0.12854745] yaw=-54.3deg [env.py: 1019] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49522934 -0.85317552 -0.12854745] yaw=-53.6deg [env.py: 1019] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47230948 -0.96279089 -0.12854745] yaw=-58.2deg [env.py: 1019] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:33:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.1ms [env.py: 1075] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -1.015, -0.129) [env.py: 1079] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 10:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:33:53 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 10:33:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:33:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.948s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:55 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.693[m] 94.814[deg] [grasp_sample.py: 539] +05/12 10:33:56 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:33:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:33:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:33:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:33:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195214m [env.py: 870] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63633891 -0.8745335 -0.19521383] yaw=-65.0deg [env.py: 1019] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42228625 -1.07679434 -0.19521383] yaw=-40.8deg [env.py: 1019] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.7ms, total=228.7ms [env.py: 1075] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.875, -0.195) [env.py: 1079] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 10:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:33:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:33:58 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 10:33:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:33:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:33:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:33:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:33:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.072s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:33:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.692[m] 85.650[deg] [grasp_sample.py: 539] +05/12 10:34:00 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:34:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143418m [env.py: 870] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=384.5ms, total=384.5ms [env.py: 1105] +05/12 10:34:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:34:02 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:34:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.203s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:02 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.689[m] 84.129[deg] [grasp_sample.py: 539] +05/12 10:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185654m [env.py: 870] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=329.4ms, total=329.5ms [env.py: 1105] +05/12 10:34:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:34:03 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:34:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124636m [env.py: 870] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=407.4ms, total=407.4ms [env.py: 1105] +05/12 10:34:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:34:05 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:34:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174916m [env.py: 870] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.58593305 -0.7272816 -0.17491572] yaw=-68.3deg [env.py: 1019] +05/12 10:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=440.9ms, total=440.9ms [env.py: 1075] +05/12 10:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.727, -0.175) [env.py: 1079] +05/12 10:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 10:34:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/12 10:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:07 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:34:09 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194470m [env.py: 870] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2729589 -0.91970276 -0.19447009] yaw=-42.4deg [env.py: 1019] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.6ms, total=208.6ms [env.py: 1075] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -0.920, -0.194) [env.py: 1079] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 10:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:10 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.502s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:34:12 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:34:12 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:34:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:34:12 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 10:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147222m [env.py: 870] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.7ms, total=204.8ms [env.py: 1105] +05/12 10:34:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:34:13 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161942m [env.py: 870] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58929863 -0.9113021 -0.16194235] yaw=-71.7deg [env.py: 1019] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=204.9ms [env.py: 1075] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.911, -0.162) [env.py: 1079] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.7 deg [env.py: 1082] +05/12 10:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:15 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.398s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.668[m] 99.051[deg] [grasp_sample.py: 539] +05/12 10:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:18 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:34:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121112m [env.py: 870] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50830155 -1.04208775 -0.12111193] yaw=-66.7deg [env.py: 1019] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1075] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -1.042, -0.121) [env.py: 1079] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/12 10:34:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:19 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.678[m] 78.614[deg] [grasp_sample.py: 539] +05/12 10:34:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:34:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:34:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:34:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:34:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.88s (batch: 3.06s, save: 8.82s) [pipeline.py: 300] +05/12 10:34:25 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=4.10s: + episode_total: mean=11.86s, total=201.59s, count=17, min=197.2ms, max=145890.7ms + sensor_polling: mean=343.1ms, total=109.43s, count=319, min=294.2ms, max=512.9ms + save_trajectories: mean=8.82s, total=8.82s, count=1, min=8817.4ms, max=8817.4ms + physics_step: mean=22.9ms, total=7.31s, count=319, min=14.6ms, max=84.6ms + task_specific_sample: mean=361.2ms, total=6.14s, count=17, min=194.5ms, max=603.0ms + task_sampling: mean=456.0ms, total=4.10s, count=9, min=393.6ms, max=605.3ms + save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3061.7ms, max=3061.7ms + task_sampling_failed: mean=260.3ms, total=2.08s, count=8, min=197.2ms, max=487.8ms + scene_randomize: mean=1.0ms, total=17.2ms, count=17, min=0.9ms, max=1.4ms + mj_forward_sync: mean=397.4us, total=6.8ms, count=17, min=0.4ms, max=0.6ms + policy_setup: mean=11.2us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:34:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.364s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:25 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.454[m] 57.935[deg] [grasp_sample.py: 539] +05/12 10:34:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178939m [env.py: 870] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23493573 -0.97045174 -0.17893875] yaw=-54.0deg [env.py: 1019] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32181686 -0.83288818 -0.17893875] yaw=-54.9deg [env.py: 1019] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.5ms [env.py: 1075] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -0.970, -0.179) [env.py: 1079] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 10:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:27 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.481s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:34:28 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195841m [env.py: 870] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.9ms, total=201.9ms [env.py: 1105] +05/12 10:34:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:34:30 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101354m [env.py: 870] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53792531 -0.92193762 -0.1013536 ] yaw=-63.7deg [env.py: 1019] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.5ms [env.py: 1075] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.922, -0.101) [env.py: 1079] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/12 10:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:32 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.625s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.740[m] 95.296[deg] [grasp_sample.py: 539] +05/12 10:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:35 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168477m [env.py: 870] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=665.8ms, total=665.8ms [env.py: 1105] +05/12 10:34:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:34:36 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:34:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171169m [env.py: 870] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21546379 -0.94197022 -0.17116939] yaw=-53.4deg [env.py: 1019] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=514.3ms, total=514.4ms [env.py: 1075] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -0.942, -0.171) [env.py: 1079] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 10:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:39 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:34:40 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144657m [env.py: 870] +05/12 10:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37692253 -1.01438345 -0.14465684] yaw=-60.4deg [env.py: 1019] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=560.6ms, total=560.7ms [env.py: 1075] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.014, -0.145) [env.py: 1079] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 10:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:42 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.562s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.714[m] 94.564[deg] [grasp_sample.py: 539] +05/12 10:34:46 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132153m [env.py: 870] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38778177 -1.00528502 -0.1321527 ] yaw=-53.2deg [env.py: 1019] +05/12 10:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=239.4ms, total=239.5ms [env.py: 1075] +05/12 10:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.005, -0.132) [env.py: 1079] +05/12 10:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 10:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 10:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:48 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:34:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:34:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 55.979[deg] [grasp_sample.py: 539] +05/12 10:34:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.330s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:51 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.697[m] 93.258[deg] [grasp_sample.py: 539] +05/12 10:34:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:52 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176014m [env.py: 870] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18946582 -0.93772015 -0.17601358] yaw=-47.4deg [env.py: 1019] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.3ms [env.py: 1075] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -0.938, -0.176) [env.py: 1079] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/12 10:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:54 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.301s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:34:56 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:34:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:34:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:34:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:34:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147041m [env.py: 870] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42315602 -1.05448837 -0.14704132] yaw=-45.5deg [env.py: 1019] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:34:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.0ms, total=221.0ms [env.py: 1075] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -1.054, -0.147) [env.py: 1079] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 10:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:34:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:34:57 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 10:34:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:34:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:34:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:34:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:34:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:34:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.651[m] 89.041[deg] [grasp_sample.py: 539] +05/12 10:34:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:34:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:34:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:35:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:35:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:35:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:05 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.186[m] 11.730[deg] [grasp_sample.py: 539] +05/12 10:35:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.683s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 55.979[deg] [grasp_sample.py: 539] +05/12 10:35:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:35:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:35:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.514[m] 55.979[deg] [grasp_sample.py: 539] +05/12 10:35:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:27 INFO: [Worker 0] Object is not in grasp! 0.00168 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:35:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 376 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.742s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:29 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.067[m] 5.441[deg] [grasp_sample.py: 539] +05/12 10:35:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:35:32 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:35:32 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:35:32 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=4.42s: + episode_total: mean=14.76s, total=191.92s, count=13, min=213.3ms, max=72990.7ms + sensor_polling: mean=355.4ms, total=63.26s, count=178, min=301.2ms, max=661.0ms + task_specific_sample: mean=442.1ms, total=5.75s, count=13, min=210.1ms, max=682.2ms + task_sampling: mean=491.5ms, total=4.42s, count=9, min=405.1ms, max=684.6ms + physics_step: mean=20.8ms, total=3.71s, count=178, min=13.0ms, max=54.1ms + task_sampling_failed: mean=340.9ms, total=1.36s, count=4, min=213.3ms, max=415.5ms + scene_randomize: mean=1.2ms, total=15.9ms, count=13, min=1.0ms, max=2.4ms + mj_forward_sync: mean=468.7us, total=6.1ms, count=13, min=0.4ms, max=0.7ms + policy_setup: mean=12.6us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:35:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:35:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:35:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:35:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127082m [env.py: 870] +05/12 10:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:35:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41007415 -0.92396673 -0.1270815 ] yaw=-62.5deg [env.py: 1019] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:35:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=549.9ms, total=549.9ms [env.py: 1075] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.410, -0.924, -0.127) [env.py: 1079] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/12 10:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 10:35:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:35:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:35:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:35:34 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 10:35:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:35:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:35:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:36 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.170[m] 17.055[deg] [grasp_sample.py: 539] +05/12 10:35:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:35:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:35:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:39 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.387[m] 27.070[deg] [grasp_sample.py: 539] +05/12 10:35:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:35:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.070s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:35:49 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.767[m] 90.639[deg] [grasp_sample.py: 539] +05/12 10:35:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:35:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:35:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:35:57 INFO: [Worker 0] Object is not in grasp! 0.00143 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:35:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:35:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:35:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:35:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 387 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.966s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:36:01 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.071[m] 2.439[deg] [grasp_sample.py: 539] +05/12 10:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:36:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:36:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:36:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:36:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:21 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:36:21 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.63s: + episode_total: mean=151.67s, total=151.67s, count=1, min=151674.7ms, max=151674.7ms + sensor_polling: mean=384.0ms, total=115.21s, count=300, min=317.4ms, max=756.0ms + physics_step: mean=23.8ms, total=7.15s, count=300, min=13.7ms, max=80.3ms + task_sampling: mean=630.4ms, total=630.4ms, count=1, min=630.4ms, max=630.4ms + task_specific_sample: mean=626.5ms, total=626.5ms, count=1, min=626.5ms, max=626.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=378.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:36:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:36:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:36:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:36:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:36:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:36:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144020m [env.py: 870] +05/12 10:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:36:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57570681 -0.8400851 -0.14401968] yaw=-56.9deg [env.py: 1019] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.3ms, total=236.4ms [env.py: 1075] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.840, -0.144) [env.py: 1079] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 10:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 10:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:36:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:36:23 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 10:36:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 10:36:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:36:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:36:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:23 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:36:24 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:36:24 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=2.26s: + episode_total: mean=44.11s, total=220.53s, count=5, min=4226.2ms, max=146069.5ms + sensor_polling: mean=353.6ms, total=116.32s, count=329, min=299.4ms, max=588.6ms + physics_step: mean=22.0ms, total=7.25s, count=329, min=13.2ms, max=58.1ms + task_sampling: mean=451.8ms, total=2.26s, count=5, min=425.5ms, max=478.5ms + task_specific_sample: mean=449.2ms, total=2.25s, count=5, min=423.4ms, max=476.1ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.6ms + mj_forward_sync: mean=376.3us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:36:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.505s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:36:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.786[m] 89.220[deg] [grasp_sample.py: 539] +05/12 10:36:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:36:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:36:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:36:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:36:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:36:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130960m [env.py: 870] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:36:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23464331 -1.05827503 -0.1309595 ] yaw=-39.9deg [env.py: 1019] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:36:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.0ms, total=250.1ms [env.py: 1075] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.058, -0.131) [env.py: 1079] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/12 10:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:36:25 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 10:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 10:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:36:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:36:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:26 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:36:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:36:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:36:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:36:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:36:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:36:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104808m [env.py: 870] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:36:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22817404 -0.97501419 -0.10480768] yaw=-42.7deg [env.py: 1019] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:36:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=733.3ms, total=733.4ms [env.py: 1075] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -0.975, -0.105) [env.py: 1079] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg [env.py: 1082] +05/12 10:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:36:29 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 10:36:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 10:36:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:36:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:36:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.326s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:36:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:36:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:36:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158334m [env.py: 870] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29171539 -1.07066203 -0.15833355] yaw=-54.9deg [env.py: 1019] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=323.8ms, total=323.9ms [env.py: 1075] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.292, -1.071, -0.158) [env.py: 1079] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/12 10:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.357s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:36:32 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.728[m] 79.282[deg] [grasp_sample.py: 539] +05/12 10:36:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:36:32 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 10:36:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:36:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:36:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:36:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.775s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:36:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.702[m] 82.849[deg] [grasp_sample.py: 539] +05/12 10:36:33 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:36:34 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:36:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:36:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:36:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:36:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:36:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:36:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185539m [env.py: 870] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:36:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35229983 -1.19689416 -0.1855394 ] yaw=-42.8deg [env.py: 1019] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.17728986 -0.96210686 -0.1855394 ] yaw=-38.5deg [env.py: 1019] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18849695 -1.09034463 -0.1855394 ] yaw=-50.6deg [env.py: 1019] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:36:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.5ms [env.py: 1075] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.197, -0.186) [env.py: 1079] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/12 10:36:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 10:36:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:36:35 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 10:36:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 10:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:36:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:36:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:36:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:36:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:36:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:36:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:36:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173852m [env.py: 870] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:36:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30872216 -0.98434748 -0.17385226] yaw=-43.7deg [env.py: 1019] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46686807 -0.87919944 -0.17385226] yaw=-71.4deg [env.py: 1019] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:36:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.8ms, total=227.9ms [env.py: 1075] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -0.984, -0.174) [env.py: 1079] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 10:36:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:36:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:36:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:36:36 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 10:36:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:36:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:36:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:36:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:36:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.714s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:36:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.635[m] 90.266[deg] [grasp_sample.py: 539] +05/12 10:36:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:36:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:36:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:36:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.973s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:36:43 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.682[m] 83.834[deg] [grasp_sample.py: 539] +05/12 10:36:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:36:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:36:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:36:50 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:36:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:37:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:13 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:37:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 10:37:13 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 10:37:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:37:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:37:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.19s (batch: 3.45s, save: 8.74s) [pipeline.py: 300] +05/12 10:37:25 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=3.76s: + episode_total: mean=18.79s, total=169.09s, count=9, min=209.8ms, max=148736.1ms + sensor_polling: mean=359.9ms, total=96.45s, count=268, min=296.8ms, max=611.3ms + save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.0ms, max=8735.0ms + physics_step: mean=23.5ms, total=6.30s, count=268, min=15.3ms, max=114.9ms + task_specific_sample: mean=513.7ms, total=4.62s, count=9, min=206.6ms, max=751.2ms + task_sampling: mean=537.6ms, total=3.76s, count=7, min=411.2ms, max=753.2ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3453.4ms, max=3453.4ms + task_sampling_failed: mean=446.6ms, total=893.2ms, count=2, min=209.7ms, max=683.5ms + scene_randomize: mean=1.2ms, total=10.4ms, count=9, min=0.9ms, max=2.3ms + mj_forward_sync: mean=441.9us, total=4.0ms, count=9, min=0.4ms, max=0.6ms + policy_setup: mean=11.8us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:37:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:37:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:37:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:37:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:37:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:37:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:37:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112672m [env.py: 870] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:37:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.0ms, total=184.0ms [env.py: 1105] +05/12 10:37:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:37:27 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:37:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:37:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:37:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167204m [env.py: 870] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1105] +05/12 10:37:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:37:29 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:37:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:37:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:37:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:37:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:37:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:37:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112988m [env.py: 870] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:37:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61415868 -0.95649991 -0.1129882 ] yaw=-65.6deg [env.py: 1019] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:37:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.9ms, total=217.0ms [env.py: 1075] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.614, -0.956, -0.113) [env.py: 1079] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg [env.py: 1082] +05/12 10:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:37:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:37:30 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 10:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 10:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:37:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:37:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:37:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.902s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:37:33 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.715[m] 85.725[deg] [grasp_sample.py: 539] +05/12 10:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:37:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:37:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:37:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:37:46 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:38:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:38:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:38:07 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 10:38:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:38:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:38:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.64s (batch: 3.58s, save: 9.07s) [pipeline.py: 300] +05/12 10:38:21 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.76s: + episode_total: mean=167.23s, total=167.23s, count=1, min=167233.4ms, max=167233.4ms + sensor_polling: mean=367.5ms, total=105.47s, count=287, min=299.2ms, max=732.6ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9068.9ms, max=9068.9ms + physics_step: mean=24.1ms, total=6.93s, count=287, min=15.4ms, max=64.4ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3575.4ms, max=3575.4ms + task_sampling: mean=758.6ms, total=758.6ms, count=1, min=758.6ms, max=758.6ms + task_specific_sample: mean=755.9ms, total=755.9ms, count=1, min=755.9ms, max=755.9ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=604.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=12.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:38:21 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:38:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172705m [env.py: 870] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.4ms, total=212.5ms [env.py: 1105] +05/12 10:38:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:38:22 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143503m [env.py: 870] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32489008 -0.89265884 -0.14350306] yaw=-59.5deg [env.py: 1019] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.7ms, total=263.7ms [env.py: 1075] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -0.893, -0.144) [env.py: 1079] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/12 10:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:24 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.801s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:38:26 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194721m [env.py: 870] +05/12 10:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42982015 -0.8430903 -0.1947214 ] yaw=-50.7deg [env.py: 1019] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.6ms, total=182.7ms [env.py: 1075] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.843, -0.195) [env.py: 1079] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 10:38:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 10:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:28 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:38:31 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:38:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.947s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:31 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.758[m] 83.481[deg] [grasp_sample.py: 539] +05/12 10:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:38:32 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:38:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152650m [env.py: 870] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1105] +05/12 10:38:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:38:34 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:38:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:38:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:38:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158186m [env.py: 870] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.9ms, total=182.9ms [env.py: 1105] +05/12 10:38:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:38:35 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:38:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173663m [env.py: 870] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.073s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:37 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.227[m] 21.184[deg] [grasp_sample.py: 539] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34460344 -0.86469737 -0.17366268] yaw=-46.2deg [env.py: 1019] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.6ms [env.py: 1075] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -0.865, -0.174) [env.py: 1079] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/12 10:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:37 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:38 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:38:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.498s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:38:39 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116859m [env.py: 870] +05/12 10:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54920349 -0.70849387 -0.11685939] yaw=-79.6deg [env.py: 1019] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24758083 -0.95738957 -0.11685939] yaw=-54.5deg [env.py: 1019] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.2ms, total=219.3ms [env.py: 1075] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.708, -0.117) [env.py: 1079] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.6 deg [env.py: 1082] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:40 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107452m [env.py: 870] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.0ms, total=196.0ms [env.py: 1105] +05/12 10:38:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:38:40 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:38:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:38:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:38:41 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 10:38:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.605s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:38:42 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:38:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133667m [env.py: 870] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4027176 -1.07388208 -0.13366744] yaw=-54.8deg [env.py: 1019] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.0ms, total=166.0ms [env.py: 1075] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.074, -0.134) [env.py: 1079] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/12 10:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:42 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170402m [env.py: 870] +05/12 10:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44228662 -1.08065436 -0.17040155] yaw=-55.3deg [env.py: 1019] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.4ms, total=290.5ms [env.py: 1075] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.081, -0.170) [env.py: 1079] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 10:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 10:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:44 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.667s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 79.353[deg] [grasp_sample.py: 539] +05/12 10:38:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:45 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:38:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166869m [env.py: 870] +05/12 10:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51410756 -0.9886844 -0.16686897] yaw=-54.0deg [env.py: 1019] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38845676 -1.14758763 -0.16686897] yaw=-47.0deg [env.py: 1019] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.4ms, total=167.5ms [env.py: 1075] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.989, -0.167) [env.py: 1079] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 10:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 10:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:47 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.000s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:48 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.666[m] 78.551[deg] [grasp_sample.py: 539] +05/12 10:38:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:38:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:38:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:38:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.791s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.673[m] 74.163[deg] [grasp_sample.py: 539] +05/12 10:38:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:38:50 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172554m [env.py: 870] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:51 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:38:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:38:51 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37661624 -1.08527092 -0.17255371] yaw=-46.2deg [env.py: 1019] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23943077 -1.00067352 -0.17255371] yaw=-35.7deg [env.py: 1019] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms [env.py: 1075] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.085, -0.173) [env.py: 1079] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/12 10:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:52 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.417s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.658[m] 86.599[deg] [grasp_sample.py: 539] +05/12 10:38:54 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:38:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:38:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:38:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.42s (batch: 4.20s, save: 9.21s) [pipeline.py: 300] +05/12 10:38:55 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.91s: + episode_total: mean=74.55s, total=149.11s, count=2, min=8152.6ms, max=140953.3ms + sensor_polling: mean=356.7ms, total=94.17s, count=264, min=306.5ms, max=678.9ms + save_trajectories: mean=9.21s, total=9.21s, count=1, min=9214.1ms, max=9214.1ms + physics_step: mean=23.2ms, total=6.13s, count=264, min=15.0ms, max=32.8ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.9ms, max=4201.9ms + task_sampling: mean=456.5ms, total=913.1ms, count=2, min=441.6ms, max=471.5ms + task_specific_sample: mean=453.7ms, total=907.5ms, count=2, min=438.2ms, max=469.2ms + scene_randomize: mean=1.0ms, total=2.0ms, count=2, min=1.0ms, max=1.1ms + mj_forward_sync: mean=372.2us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:38:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115514m [env.py: 870] +05/12 10:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30947883 -1.24427574 -0.11551417] yaw=-27.3deg [env.py: 1019] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33915763 -0.97637364 -0.11551417] yaw=-57.3deg [env.py: 1019] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.58116038 -0.79470459 -0.11551417] yaw=-79.9deg [env.py: 1019] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms [env.py: 1075] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -1.244, -0.116) [env.py: 1079] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.3 deg [env.py: 1082] +05/12 10:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 10:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:56 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122432m [env.py: 870] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.761s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:38:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.644[m] 75.611[deg] [grasp_sample.py: 539] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=173.4ms, total=173.4ms [env.py: 1105] +05/12 10:38:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:38:57 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:38:58 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:38:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160360m [env.py: 870] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54135754 -0.87049305 -0.16036034] yaw=-70.3deg [env.py: 1019] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:38:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=164.1ms, total=164.2ms [env.py: 1075] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.870, -0.160) [env.py: 1079] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg [env.py: 1082] +05/12 10:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:38:59 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 10:38:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 10:38:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:38:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:38:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:38:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:38:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:38:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:38:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:38:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:38:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:38:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189428m [env.py: 870] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:38:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61548715 -0.92820068 -0.18942794] yaw=-65.9deg [env.py: 1019] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15202041 -1.08894015 -0.18942794] yaw=-30.6deg [env.py: 1019] +05/12 10:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.4ms, total=271.5ms [env.py: 1075] +05/12 10:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.928, -0.189) [env.py: 1079] +05/12 10:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 10:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/12 10:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:39:00 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 10:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 10:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:39:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:39:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:39:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:39:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.746[m] 93.892[deg] [grasp_sample.py: 539] +05/12 10:39:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:39:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:39:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:39:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.446s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:39:01 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.614[m] 86.441[deg] [grasp_sample.py: 539] +05/12 10:39:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:39:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:39:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:39:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:39:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:39:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.51s (batch: 3.34s, save: 9.16s) [pipeline.py: 300] +05/12 10:39:04 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=2.47s: + episode_total: mean=39.41s, total=157.64s, count=4, min=2532.9ms, max=148792.3ms + sensor_polling: mean=365.5ms, total=99.04s, count=271, min=317.6ms, max=551.1ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9162.7ms, max=9162.7ms + physics_step: mean=23.0ms, total=6.23s, count=271, min=15.1ms, max=34.8ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3342.3ms, max=3342.3ms + task_sampling: mean=617.5ms, total=2.47s, count=4, min=453.9ms, max=1022.5ms + task_specific_sample: mean=614.6ms, total=2.46s, count=4, min=451.6ms, max=1019.2ms + scene_randomize: mean=1.1ms, total=4.4ms, count=4, min=0.9ms, max=1.2ms + mj_forward_sync: mean=456.7us, total=1.8ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=11.3us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:39:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:39:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:39:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:39:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:39:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:39:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123821m [env.py: 870] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:39:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=242.1ms, total=242.1ms [env.py: 1105] +05/12 10:39:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:39:06 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:39:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:39:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:39:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:39:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:39:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:39:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180318m [env.py: 870] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:39:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46331212 -0.78665 -0.18031848] yaw=-65.9deg [env.py: 1019] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:39:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.9ms [env.py: 1075] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -0.787, -0.180) [env.py: 1079] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 10:39:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:39:08 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 10:39:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 10:39:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:39:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:39:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:39:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.307s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:39:09 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:39:09 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 10:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:39:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:39:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127241m [env.py: 870] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28496611 -0.96065472 -0.127241 ] yaw=-48.1deg [env.py: 1019] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36137329 -1.16983861 -0.127241 ] yaw=-38.9deg [env.py: 1019] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:39:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.4ms [env.py: 1075] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -0.961, -0.127) [env.py: 1079] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 10:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:39:11 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 10:39:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:39:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:39:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:39:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:39:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.446s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:39:14 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 10:39:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:39:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:39:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:39:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:39:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:39:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190901m [env.py: 870] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:39:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56035434 -1.01225385 -0.19090141] yaw=-64.0deg [env.py: 1019] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.53820402 -0.7976923 -0.19090141] yaw=-61.0deg [env.py: 1019] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:39:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.5ms [env.py: 1075] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.560, -1.012, -0.191) [env.py: 1079] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 10:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:39:15 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 10:39:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:39:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:39:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:39:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:39:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.594s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:39:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.571[m] 81.685[deg] [grasp_sample.py: 539] +05/12 10:39:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:39:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:39:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:39:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:39:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:39:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:39:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.494s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:39:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.557[m] 64.824[deg] [grasp_sample.py: 539] +05/12 10:39:40 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:39:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:39:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138952m [env.py: 870] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48655333 -0.91174567 -0.13895177] yaw=-53.5deg [env.py: 1019] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=550.8ms, total=550.8ms [env.py: 1075] +05/12 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -0.912, -0.139) [env.py: 1079] +05/12 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:39:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:39:42 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 10:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:39:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:39:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:39:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:39:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.727[m] 86.229[deg] [grasp_sample.py: 539] +05/12 10:39:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:39:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:39:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:39:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:54 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:39:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:39:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:39:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 424 non-colliding grasps [grasp_sample.py: 465] +05/12 10:39:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.405s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:39:55 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.055[m] 1.422[deg] [grasp_sample.py: 539] +05/12 10:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:39:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:39:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:39:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:40:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:40:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:40:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:16 INFO: [Worker 0] Object is not in grasp! 0.00109 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:40:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:40:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.415s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:16 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.135[m] 3.568[deg] [grasp_sample.py: 539] +05/12 10:40:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:40:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:40:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:20 INFO: [Worker 0] Object is not in grasp! 0.00116 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:40:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:40:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:40:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:40:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 356 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:22 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.068[m] 5.447[deg] [grasp_sample.py: 539] +05/12 10:40:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:40:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.404s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:22 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.062[m] 5.408[deg] [grasp_sample.py: 539] +05/12 10:40:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:40:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:40:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:40:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:40:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:40:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:40:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:40:40 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:40:40 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=False episode_total=1.46s: + episode_total: mean=37.43s, total=187.16s, count=5, min=195.4ms, max=116495.3ms + sensor_polling: mean=334.4ms, total=148.16s, count=443, min=297.3ms, max=563.3ms + physics_step: mean=22.1ms, total=9.78s, count=443, min=14.9ms, max=31.7ms + task_specific_sample: mean=372.8ms, total=1.86s, count=5, min=189.8ms, max=544.3ms + task_sampling: mean=487.2ms, total=1.46s, count=3, min=442.8ms, max=548.4ms + task_sampling_failed: mean=209.5ms, total=419.0ms, count=2, min=195.4ms, max=223.7ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=0.9ms, max=2.4ms + mj_forward_sync: mean=475.5us, total=2.4ms, count=5, min=0.4ms, max=0.8ms + policy_setup: mean=12.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:40:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:40:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:40:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:40:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:40:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:40:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191288m [env.py: 870] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:40:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.3ms, total=202.3ms [env.py: 1105] +05/12 10:40:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:40:41 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:40:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:40:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:40:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:40:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:40:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:40:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195434m [env.py: 870] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:40:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13700194 -1.01652631 -0.19543375] yaw=-39.9deg [env.py: 1019] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:40:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=537.4ms, total=537.4ms [env.py: 1075] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.137, -1.017, -0.195) [env.py: 1079] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/12 10:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:40:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:40:44 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 10:40:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 10:40:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.700s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:40:45 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:40:46 INFO: [Worker 0] Object is not in grasp! 0.00199 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:40:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:40:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:46 INFO: [Worker 0] Object is not in grasp! 0.00103 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:40:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:40:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 390 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:40:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:40:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:40:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:40:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:40:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148161m [env.py: 870] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:40:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28089681 -0.9569788 -0.14816149] yaw=-56.0deg [env.py: 1019] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:40:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.9ms, total=193.0ms [env.py: 1075] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.957, -0.148) [env.py: 1079] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 10:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:40:47 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 10:40:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 10:40:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.828s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:48 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.076[m] 0.403[deg] [grasp_sample.py: 539] +05/12 10:40:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:40:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:40:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:49 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.070[m] 2.380[deg] [grasp_sample.py: 539] +05/12 10:40:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:40:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:40:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.689s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:51 INFO: [Worker 0] Feasible grasp found 194 (originally 194): w/ 0.106[m] 9.504[deg] [grasp_sample.py: 539] +05/12 10:40:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:40:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:40:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:40:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.036s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:53 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 10:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:40:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:40:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:40:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:40:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:40:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:40:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122753m [env.py: 870] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:40:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24752636 -1.0184242 -0.12275297] yaw=-52.1deg [env.py: 1019] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:40:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.3ms, total=233.3ms [env.py: 1075] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.248, -1.018, -0.123) [env.py: 1079] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg [env.py: 1082] +05/12 10:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:40:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:40:55 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 10:40:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:40:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:40:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:40:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:40:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:40:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:40:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.366s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:40:59 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.750[m] 89.024[deg] [grasp_sample.py: 539] +05/12 10:41:00 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:41:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197832m [env.py: 870] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33523605 -0.89354454 -0.19783152] yaw=-55.2deg [env.py: 1019] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.5ms, total=196.6ms [env.py: 1075] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.894, -0.198) [env.py: 1079] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 10:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:41:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.833s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:01 INFO: [Worker 0] Feasible grasp found 24 (originally 24): w/ 0.150[m] 12.631[deg] [grasp_sample.py: 539] +05/12 10:41:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:01 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:41:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:41:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.361s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:03 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.765[m] 92.729[deg] [grasp_sample.py: 539] +05/12 10:41:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:04 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:41:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:41:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 325 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122965m [env.py: 870] +05/12 10:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41190038 -1.05691339 -0.12296542] yaw=-50.2deg [env.py: 1019] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.1ms [env.py: 1075] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -1.057, -0.123) [env.py: 1079] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/12 10:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 10:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:06 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.678s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:07 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.057[m] 4.138[deg] [grasp_sample.py: 539] +05/12 10:41:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:41:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:41:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:41:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:41:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.258s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:11 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.681[m] 79.988[deg] [grasp_sample.py: 539] +05/12 10:41:12 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186549m [env.py: 870] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46710484 -0.78459159 -0.18654873] yaw=-52.5deg [env.py: 1019] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29321969 -1.02549081 -0.18654873] yaw=-56.7deg [env.py: 1019] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36748494 -1.14964611 -0.18654873] yaw=-34.3deg [env.py: 1019] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=278.1ms, total=278.2ms [env.py: 1075] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -0.785, -0.187) [env.py: 1079] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg [env.py: 1082] +05/12 10:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:14 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:14 INFO: [Worker 0] Feasible grasp found 429 (originally 429): w/ 0.238[m] 22.669[deg] [grasp_sample.py: 539] +05/12 10:41:16 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:16 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 10:41:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.351s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:41:16 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:41:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115340m [env.py: 870] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160499m [env.py: 870] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25657275 -1.16993181 -0.11533987] yaw=-48.0deg [env.py: 1019] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45882201 -0.7878704 -0.16049879] yaw=-53.3deg [env.py: 1019] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=260.3ms, total=260.4ms [env.py: 1075] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -1.170, -0.115) [env.py: 1079] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg [env.py: 1082] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=243.7ms, total=243.8ms [env.py: 1075] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -0.788, -0.160) [env.py: 1079] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg [env.py: 1082] +05/12 10:41:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:17 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:17 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:19 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:41:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:41:19 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:41:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:41:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151593m [env.py: 870] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=227.7ms, total=227.7ms [env.py: 1105] +05/12 10:41:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:41:20 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:41:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149326m [env.py: 870] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58088361 -0.83959171 -0.14932587] yaw=-71.7deg [env.py: 1019] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=163.6ms, total=163.7ms [env.py: 1075] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.840, -0.149) [env.py: 1079] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.7 deg [env.py: 1082] +05/12 10:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:22 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:23 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:41:23 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=False episode_total=1.40s: + episode_total: mean=33.25s, total=132.98s, count=4, min=253.1ms, max=127664.7ms + sensor_polling: mean=365.9ms, total=109.77s, count=300, min=320.1ms, max=654.9ms + physics_step: mean=22.8ms, total=6.83s, count=300, min=19.6ms, max=96.9ms + task_specific_sample: mean=410.7ms, total=1.64s, count=4, min=248.1ms, max=497.8ms + task_sampling: mean=467.3ms, total=1.40s, count=3, min=429.0ms, max=499.9ms + task_sampling_failed: mean=253.0ms, total=253.0ms, count=1, min=253.0ms, max=253.0ms + scene_randomize: mean=1.5ms, total=6.0ms, count=4, min=0.9ms, max=2.9ms + mj_forward_sync: mean=427.8us, total=1.7ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:41:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187613m [env.py: 870] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35871537 -1.02304523 -0.18761296] yaw=-44.6deg [env.py: 1019] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32182489 -1.12000772 -0.18761296] yaw=-37.4deg [env.py: 1019] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29722137 -0.92562012 -0.18761296] yaw=-44.5deg [env.py: 1019] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.8ms, total=218.9ms [env.py: 1075] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.023, -0.188) [env.py: 1079] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 10:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:24 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.014s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:27 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.719[m] 98.787[deg] [grasp_sample.py: 539] +05/12 10:41:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.884s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:27 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.724[m] 81.355[deg] [grasp_sample.py: 539] +05/12 10:41:28 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:29 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.456s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:29 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.740[m] 90.487[deg] [grasp_sample.py: 539] +05/12 10:41:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163250m [env.py: 870] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.3ms, total=215.4ms [env.py: 1105] +05/12 10:41:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:41:29 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:41:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150499m [env.py: 870] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:30 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.4ms, total=195.5ms [env.py: 1105] +05/12 10:41:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:41:30 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:41:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143676m [env.py: 870] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15935062 -1.04138638 -0.14367558] yaw=-45.6deg [env.py: 1019] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.8ms, total=197.8ms [env.py: 1075] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.041, -0.144) [env.py: 1079] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/12 10:41:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:31 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165271m [env.py: 870] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117233m [env.py: 870] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30015963 -1.03785149 -0.16527142] yaw=-46.9deg [env.py: 1019] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4739332 -1.03637466 -0.16527142] yaw=-53.9deg [env.py: 1019] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63105754 -0.8464059 -0.16527142] yaw=-71.5deg [env.py: 1019] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=126.4ms, total=126.5ms [env.py: 1075] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.038, -0.165) [env.py: 1079] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:32 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50253673 -0.9574035 -0.11723339] yaw=-52.4deg [env.py: 1019] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=472.4ms, total=472.5ms [env.py: 1075] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.957, -0.117) [env.py: 1079] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg [env.py: 1082] +05/12 10:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:32 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.704s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:41:33 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:41:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143542m [env.py: 870] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58200614 -0.96363755 -0.14354202] yaw=-66.9deg [env.py: 1019] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36009416 -0.89648526 -0.14354202] yaw=-53.6deg [env.py: 1019] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.4ms [env.py: 1075] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.964, -0.144) [env.py: 1079] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg [env.py: 1082] +05/12 10:41:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.206s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.759[m] 85.748[deg] [grasp_sample.py: 539] +05/12 10:41:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:35 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:41:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.134s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.732[m] 86.202[deg] [grasp_sample.py: 539] +05/12 10:41:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:41:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:41:36 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:41:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.662[m] 78.209[deg] [grasp_sample.py: 539] +05/12 10:41:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:41:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:41:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174556m [env.py: 870] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25359704 -0.88067585 -0.17455622] yaw=-42.1deg [env.py: 1019] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.4ms [env.py: 1075] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -0.881, -0.175) [env.py: 1079] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/12 10:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:38 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.330s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:41:39 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166628m [env.py: 870] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15080049 -1.1005757 -0.16662805] yaw=-42.3deg [env.py: 1019] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30380956 -1.21881698 -0.16662805] yaw=-29.1deg [env.py: 1019] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21771832 -1.12531055 -0.16662805] yaw=-49.7deg [env.py: 1019] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.7ms, total=175.7ms [env.py: 1075] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.151, -1.101, -0.167) [env.py: 1079] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg [env.py: 1082] +05/12 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:41 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:41:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:41:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:41:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:43 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 10:41:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177312m [env.py: 870] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44699877 -1.10009163 -0.1773123 ] yaw=-50.4deg [env.py: 1019] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=303.3ms, total=303.3ms [env.py: 1075] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -1.100, -0.177) [env.py: 1079] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 10:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:45 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.839s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:41:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.609[m] 89.006[deg] [grasp_sample.py: 539] +05/12 10:41:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:41:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:41:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:41:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:41:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:41:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:41:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.67s (batch: 3.52s, save: 10.15s) [pipeline.py: 300] +05/12 10:41:56 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=3.37s: + episode_total: mean=16.56s, total=198.77s, count=12, min=190.5ms, max=176392.8ms + sensor_polling: mean=385.5ms, total=115.64s, count=300, min=305.8ms, max=635.6ms + save_trajectories: mean=10.15s, total=10.15s, count=1, min=10149.5ms, max=10149.5ms + physics_step: mean=25.3ms, total=7.60s, count=300, min=14.9ms, max=120.8ms + task_specific_sample: mean=348.1ms, total=4.18s, count=12, min=188.0ms, max=571.4ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3520.8ms, max=3520.8ms + task_sampling: mean=420.8ms, total=3.37s, count=8, min=341.6ms, max=574.1ms + task_sampling_failed: mean=211.1ms, total=844.4ms, count=4, min=190.4ms, max=226.4ms + scene_randomize: mean=1.2ms, total=14.9ms, count=12, min=1.0ms, max=2.8ms + mj_forward_sync: mean=447.4us, total=5.4ms, count=12, min=0.4ms, max=0.7ms + policy_setup: mean=12.7us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:41:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:41:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:41:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:41:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:41:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:41:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104807m [env.py: 870] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:41:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54777099 -0.88328557 -0.10480656] yaw=-72.0deg [env.py: 1019] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:41:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.0ms, total=192.1ms [env.py: 1075] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -0.883, -0.105) [env.py: 1079] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg [env.py: 1082] +05/12 10:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:41:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:41:57 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 10:41:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 10:41:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:41:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:41:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.327s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:42:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.746[m] 89.706[deg] [grasp_sample.py: 539] +05/12 10:42:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:42:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:42:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:42:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:42:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:42:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:42:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:42:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:42:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:42:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:42:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:42:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.024s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:42:49 INFO: [Worker 0] Feasible grasp found 29 (originally 29): w/ 0.598[m] 66.968[deg] [grasp_sample.py: 539] +05/12 10:42:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:51 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:42:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:42:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:42:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:42:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:42:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:42:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:42:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:42:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:42:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:42:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128581m [env.py: 870] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:42:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15723002 -1.03714314 -0.12858078] yaw=-31.0deg [env.py: 1019] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25132109 -1.12558674 -0.12858078] yaw=-47.2deg [env.py: 1019] +05/12 10:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:42:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/12 10:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.157, -1.037, -0.129) [env.py: 1079] +05/12 10:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.0 deg [env.py: 1082] +05/12 10:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 10:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:42:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:42:53 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 10:42:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 10:42:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:42:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:42:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:42:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:42:54 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:42:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:42:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:42:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:42:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:42:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:42:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:42:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145068m [env.py: 870] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:42:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=251.0ms, total=251.0ms [env.py: 1105] +05/12 10:42:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:42:56 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:42:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:42:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:42:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149897m [env.py: 870] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37820108 -1.14817926 -0.14989747] yaw=-36.9deg [env.py: 1019] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16959539 -1.00094385 -0.14989747] yaw=-49.6deg [env.py: 1019] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51886581 -0.87864972 -0.14989747] yaw=-57.1deg [env.py: 1019] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.8ms, total=200.8ms [env.py: 1075] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -1.148, -0.150) [env.py: 1079] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg [env.py: 1082] +05/12 10:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:42:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:42:57 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 10:42:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 10:42:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:42:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:42:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:43:00 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:43:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:43:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:43:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:43:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 330 non-colliding grasps [grasp_sample.py: 465] +05/12 10:43:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.473s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:43:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.682[m] 92.698[deg] [grasp_sample.py: 539] +05/12 10:43:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:43:01 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.126[m] 4.294[deg] [grasp_sample.py: 539] +05/12 10:43:02 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:43:03 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:43:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:43:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:43:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:43:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:43:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:43:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154989m [env.py: 870] +05/12 10:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:43:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:43:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36468456 -1.00137177 -0.15498895] yaw=-41.8deg [env.py: 1019] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46965322 -0.96654517 -0.15498895] yaw=-67.1deg [env.py: 1019] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=280.8ms, total=280.8ms [env.py: 1075] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -1.001, -0.155) [env.py: 1079] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:43:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:43:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:43:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109423m [env.py: 870] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:43:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:43:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:43:04 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 10:43:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:43:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55504853 -0.86926287 -0.10942339] yaw=-64.2deg [env.py: 1019] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:43:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=206.9ms [env.py: 1075] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.869, -0.109) [env.py: 1079] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.2 deg [env.py: 1082] +05/12 10:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:43:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:43:04 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 10:43:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 10:43:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:43:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:43:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:43:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.631s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:43:07 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.718[m] 83.291[deg] [grasp_sample.py: 539] +05/12 10:43:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:43:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.544s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:43:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.765[m] 98.629[deg] [grasp_sample.py: 539] +05/12 10:43:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:43:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:43:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:43:08 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:43:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:43:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:43:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:43:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:43:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:43:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:43:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196223m [env.py: 870] +05/12 10:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:43:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1105] +05/12 10:43:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:43:10 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:43:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:43:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:43:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:43:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:43:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:43:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154678m [env.py: 870] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:43:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.2ms, total=203.3ms [env.py: 1105] +05/12 10:43:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:43:11 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:43:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:43:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:43:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:43:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:43:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:43:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:43:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196799m [env.py: 870] +05/12 10:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:43:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49242772 -1.01174939 -0.19679867] yaw=-54.5deg [env.py: 1019] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21057802 -1.1410806 -0.19679867] yaw=-39.5deg [env.py: 1019] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:43:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=477.6ms, total=477.6ms [env.py: 1075] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -1.012, -0.197) [env.py: 1079] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 10:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/12 10:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:43:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:43:13 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 10:43:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:43:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:43:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:43:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:43:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:43:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.601[m] 84.074[deg] [grasp_sample.py: 539] +05/12 10:43:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:43:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:43:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:43:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:34 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:43:40 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:43:57 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:43:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:43:57 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/12 10:44:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:01 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:44:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:44:01 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 10:44:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:44:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:44:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:44:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.22s (batch: 3.65s, save: 8.57s) [pipeline.py: 300] +05/12 10:44:10 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=4.10s: + episode_total: mean=30.09s, total=300.88s, count=10, min=184.2ms, max=145025.9ms + sensor_polling: mean=360.7ms, total=171.70s, count=476, min=294.9ms, max=1133.8ms + physics_step: mean=22.9ms, total=10.92s, count=476, min=15.0ms, max=63.9ms + save_trajectories: mean=8.57s, total=8.57s, count=1, min=8573.6ms, max=8573.6ms + task_specific_sample: mean=449.2ms, total=4.49s, count=10, min=179.7ms, max=767.0ms + task_sampling: mean=512.5ms, total=4.10s, count=8, min=353.9ms, max=769.9ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.2ms, max=3647.2ms + task_sampling_failed: mean=211.8ms, total=423.7ms, count=2, min=184.2ms, max=239.5ms + scene_randomize: mean=1.4ms, total=14.4ms, count=10, min=1.0ms, max=2.8ms + mj_forward_sync: mean=501.4us, total=5.0ms, count=10, min=0.4ms, max=0.7ms + policy_setup: mean=15.9us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:44:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127664m [env.py: 870] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25579463 -0.91565475 -0.1276645 ] yaw=-56.9deg [env.py: 1019] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:44:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.1ms [env.py: 1075] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -0.916, -0.128) [env.py: 1079] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg [env.py: 1082] +05/12 10:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:44:11 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 10:44:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:44:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:44:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.380s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:44:13 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:44:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177538m [env.py: 870] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57376482 -0.87655391 -0.17753842] yaw=-56.2deg [env.py: 1019] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49821744 -1.0315932 -0.17753842] yaw=-57.7deg [env.py: 1019] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:44:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.4ms [env.py: 1075] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -0.877, -0.178) [env.py: 1079] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 10:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:44:15 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 10:44:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:44:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:44:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:44:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 14.20s (batch: 4.40s, save: 9.80s) [pipeline.py: 300] +05/12 10:44:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:16 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.87s: + episode_total: mean=56.35s, total=169.06s, count=3, min=204.1ms, max=164281.2ms + sensor_polling: mean=403.1ms, total=115.68s, count=287, min=321.5ms, max=668.6ms + save_trajectories: mean=9.80s, total=9.80s, count=1, min=9799.0ms, max=9799.0ms + physics_step: mean=24.2ms, total=6.96s, count=287, min=15.0ms, max=53.9ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.7ms, max=4397.7ms + task_specific_sample: mean=355.6ms, total=1.07s, count=3, min=200.1ms, max=469.9ms + task_sampling: mean=435.9ms, total=871.9ms, count=2, min=399.8ms, max=472.0ms + task_sampling_failed: mean=204.1ms, total=204.1ms, count=1, min=204.1ms, max=204.1ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.9ms, max=1.4ms + mj_forward_sync: mean=439.8us, total=1.3ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=12.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:44:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121276m [env.py: 870] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.3ms, total=186.4ms [env.py: 1105] +05/12 10:44:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:44:17 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:44:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178953m [env.py: 870] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=176.2ms, total=176.2ms [env.py: 1105] +05/12 10:44:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:44:19 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:44:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.793s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:20 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.687[m] 83.886[deg] [grasp_sample.py: 539] +05/12 10:44:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146410m [env.py: 870] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25674383 -1.15506257 -0.14641025] yaw=-30.5deg [env.py: 1019] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:44:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.9ms, total=227.0ms [env.py: 1075] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -1.155, -0.146) [env.py: 1079] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.5 deg [env.py: 1082] +05/12 10:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:44:21 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 10:44:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 10:44:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:21 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:44:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100503m [env.py: 870] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2563841 -0.97188734 -0.10050339] yaw=-41.5deg [env.py: 1019] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:44:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=277.6ms, total=277.6ms [env.py: 1075] +05/12 10:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -0.972, -0.101) [env.py: 1079] +05/12 10:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/12 10:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 10:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:44:23 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 10:44:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 10:44:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.812s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.714[m] 76.608[deg] [grasp_sample.py: 539] +05/12 10:44:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:44:24 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:44:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:44:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:44:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 337 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.580s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:44:24 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:44:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:44:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.413s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:26 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.122[m] 4.992[deg] [grasp_sample.py: 539] +05/12 10:44:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:44:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172662m [env.py: 870] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.4ms, total=204.4ms [env.py: 1105] +05/12 10:44:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:44:26 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:44:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:44:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169342m [env.py: 870] +05/12 10:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32767708 -1.14491713 -0.16934231] yaw=-37.6deg [env.py: 1019] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:44:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=206.0ms [env.py: 1075] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.145, -0.169) [env.py: 1079] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg [env.py: 1082] +05/12 10:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 10:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:44:28 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 10:44:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:44:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.608s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:31 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.665[m] 81.776[deg] [grasp_sample.py: 539] +05/12 10:44:32 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:44:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169178m [env.py: 870] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31178504 -1.04675087 -0.16917801] yaw=-38.2deg [env.py: 1019] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:44:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1075] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.047, -0.169) [env.py: 1079] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/12 10:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:44:33 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 10:44:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:44:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.773s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.710[m] 84.994[deg] [grasp_sample.py: 539] +05/12 10:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:44:35 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:44:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:44:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124168m [env.py: 870] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.0ms, total=208.1ms [env.py: 1105] +05/12 10:44:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:44:37 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:44:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:44:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:44:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:44:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135008m [env.py: 870] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:44:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6525316 -0.95365413 -0.13500795] yaw=-75.0deg [env.py: 1019] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:44:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.6ms, total=204.6ms [env.py: 1075] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.653, -0.954, -0.135) [env.py: 1079] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg [env.py: 1082] +05/12 10:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:44:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:44:38 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 10:44:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:44:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:44:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.643[m] 85.077[deg] [grasp_sample.py: 539] +05/12 10:44:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:44:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:44:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:41 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.238[m] 24.490[deg] [grasp_sample.py: 539] +05/12 10:44:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:44:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:44:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:44:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:44:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:44:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:44:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.545s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:44:44 INFO: [Worker 0] Feasible grasp found 528 (originally 528): w/ 0.443[m] 40.573[deg] [grasp_sample.py: 539] +05/12 10:44:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:44:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:44:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:44:54 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:44:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:44:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:45:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:45:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:45:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:45:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:45:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:45:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:45:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:45:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.498[m] 62.174[deg] [grasp_sample.py: 539] +05/12 10:45:07 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:45:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:45:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:45:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173682m [env.py: 870] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55042249 -0.98874732 -0.17368232] yaw=-53.9deg [env.py: 1019] +05/12 10:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:45:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=204.3ms, total=204.3ms [env.py: 1075] +05/12 10:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.989, -0.174) [env.py: 1079] +05/12 10:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg [env.py: 1082] +05/12 10:45:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 10:45:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:45:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:45:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:45:09 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 10:45:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:45:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:45:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:45:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:45:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.573s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:45:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.662[m] 83.439[deg] [grasp_sample.py: 539] +05/12 10:45:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:45:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:45:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:45:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:45:15 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:45:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:45:15 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/12 10:45:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:45:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:45:26 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:45:26 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=False episode_total=5.46s: + episode_total: mean=17.74s, total=266.10s, count=15, min=210.9ms, max=133094.4ms + sensor_polling: mean=349.2ms, total=166.56s, count=477, min=291.7ms, max=650.9ms + physics_step: mean=22.9ms, total=10.91s, count=477, min=16.5ms, max=56.1ms + task_specific_sample: mean=418.6ms, total=6.28s, count=15, min=207.1ms, max=787.9ms + task_sampling: mean=496.4ms, total=5.46s, count=11, min=397.3ms, max=791.2ms + task_sampling_failed: mean=215.3ms, total=861.0ms, count=4, min=210.9ms, max=223.1ms + scene_randomize: mean=1.1ms, total=16.6ms, count=15, min=0.9ms, max=1.9ms + mj_forward_sync: mean=414.5us, total=6.2ms, count=15, min=0.4ms, max=0.5ms + policy_setup: mean=12.0us, total=0.1ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:45:27 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 10:45:27 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 10:45:27 INFO: [Worker 0] Worker 0 completed house 1: 4/9 successful episodes [pipeline.py: 1323] +05/12 10:45:27 INFO: [Worker 0] [PROFILE] House 1 complete: 4/9 successful, 9 episodes, total_time=2539.66s + House averages: + episode_total: mean=20.65s, total=1486.47s, count=72, min=195.4ms, max=166885.9ms + sensor_polling: mean=347.8ms, total=875.65s, count=2518, min=291.7ms, max=650.9ms + physics_step: mean=22.6ms, total=56.93s, count=2518, min=12.9ms, max=114.9ms + save_trajectories: mean=8.92s, total=35.67s, count=4, min=8735.0ms, max=9268.7ms + task_specific_sample: mean=407.0ms, total=29.30s, count=72, min=189.8ms, max=1045.5ms + task_sampling: mean=579.3ms, total=26.65s, count=46, min=393.6ms, max=4229.1ms + save_batch_prep: mean=3.34s, total=13.34s, count=4, min=3061.7ms, max=3607.1ms + task_sampling_failed: mean=251.7ms, total=6.55s, count=26, min=195.4ms, max=683.5ms + scene_load: mean=3.67s, total=3.67s, count=1, min=3674.5ms, max=3674.5ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1986.1ms, max=1986.1ms + scene_compile: mean=1.53s, total=1.53s, count=1, min=1526.0ms, max=1526.0ms + compile_mujoco: mean=916.2ms, total=916.2ms, count=1, min=916.2ms, max=916.2ms + compile_xml_load: mean=527.8ms, total=527.8ms, count=1, min=527.8ms, max=527.8ms + scene_init: mean=95.2ms, total=95.2ms, count=1, min=95.2ms, max=95.2ms + scene_randomize: mean=1.2ms, total=83.1ms, count=72, min=0.9ms, max=2.9ms + scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + asset_install_grasps: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms + mj_forward_sync: mean=422.9us, total=30.4ms, count=72, min=0.4ms, max=0.8ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms + asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms + policy_setup: mean=13.1us, total=0.6ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 10:45:27 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 10:45:27 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=2539.66s + Worker averages: + episode_total: mean=20.65s, total=1486.47s, count=72, min=195.4ms, max=166885.9ms + sensor_polling: mean=347.8ms, total=875.65s, count=2518, min=291.7ms, max=650.9ms + physics_step: mean=22.6ms, total=56.93s, count=2518, min=12.9ms, max=114.9ms + save_trajectories: mean=8.92s, total=35.67s, count=4, min=8735.0ms, max=9268.7ms + task_specific_sample: mean=407.0ms, total=29.30s, count=72, min=189.8ms, max=1045.5ms + task_sampling: mean=579.3ms, total=26.65s, count=46, min=393.6ms, max=4229.1ms + save_batch_prep: mean=3.34s, total=13.34s, count=4, min=3061.7ms, max=3607.1ms + task_sampling_failed: mean=251.7ms, total=6.55s, count=26, min=195.4ms, max=683.5ms + scene_load: mean=3.67s, total=3.67s, count=1, min=3674.5ms, max=3674.5ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1986.1ms, max=1986.1ms + scene_compile: mean=1.53s, total=1.53s, count=1, min=1526.0ms, max=1526.0ms + compile_mujoco: mean=916.2ms, total=916.2ms, count=1, min=916.2ms, max=916.2ms + compile_xml_load: mean=527.8ms, total=527.8ms, count=1, min=527.8ms, max=527.8ms + scene_init: mean=95.2ms, total=95.2ms, count=1, min=95.2ms, max=95.2ms + scene_randomize: mean=1.2ms, total=83.1ms, count=72, min=0.9ms, max=2.9ms + scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms + compile_aux_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + compile_aux_policy_objects: mean=49.4ms, total=49.4ms, count=1, min=49.4ms, max=49.4ms + asset_install_grasps: mean=45.6ms, total=45.6ms, count=1, min=45.6ms, max=45.6ms + mj_forward_sync: mean=422.9us, total=30.4ms, count=72, min=0.4ms, max=0.8ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms + asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms + policy_setup: mean=13.1us, total=0.6ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 10:45:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:45:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:45:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.63s (batch: 3.55s, save: 9.07s) [pipeline.py: 300] +05/12 10:45:28 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.76s: + episode_total: mean=41.21s, total=206.04s, count=5, min=260.3ms, max=144704.6ms + sensor_polling: mean=347.9ms, total=115.84s, count=333, min=298.6ms, max=667.3ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9074.2ms, max=9074.2ms + physics_step: mean=23.0ms, total=7.65s, count=333, min=15.0ms, max=67.2ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3553.9ms, max=3553.9ms + task_specific_sample: mean=399.8ms, total=2.00s, count=5, min=256.3ms, max=486.4ms + task_sampling: mean=438.8ms, total=1.76s, count=4, min=401.9ms, max=488.9ms + task_sampling_failed: mean=260.3ms, total=260.3ms, count=1, min=260.3ms, max=260.3ms + scene_randomize: mean=1.5ms, total=7.6ms, count=5, min=1.1ms, max=2.3ms + mj_forward_sync: mean=508.1us, total=2.5ms, count=5, min=0.4ms, max=0.8ms + policy_setup: mean=16.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:45:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:45:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:45:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:45:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:45:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:45:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:45:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:45:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136245m [env.py: 870] +05/12 10:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:45:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41013416 -0.94851249 -0.13624527] yaw=-47.1deg [env.py: 1019] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:45:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.6ms [env.py: 1075] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.410, -0.949, -0.136) [env.py: 1079] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg [env.py: 1082] +05/12 10:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 10:45:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:45:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:45:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:45:30 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 10:45:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:45:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:45:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:45:30 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 10:45:30 INFO: Success count: 4, Total count: 9 [pipeline.py: 1491] +05/12 10:45:30 INFO: Success rate: 44.44% [pipeline.py: 1492] +05/12 10:45:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:45:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.454s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:45:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.772[m] 90.092[deg] [grasp_sample.py: 539] +05/12 10:45:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:45:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:45:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:45:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:45:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:45:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:46:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:46:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:46:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:46:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:46:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 10:46:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.343s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:46:17 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.672[deg] [grasp_sample.py: 539] +05/12 10:46:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:46:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:46:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:46:27 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:46:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:36 INFO: [Worker 0] Object is not in grasp! 0.00113 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:46:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:46:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:46:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:46:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 10:46:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.349s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:46:36 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.590[deg] [grasp_sample.py: 539] +05/12 10:46:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:46:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:46:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:46:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:46:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:48 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:46:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:46:48 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 10:46:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:46:58 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:47:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:47:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:47:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.35s (batch: 3.48s, save: 8.87s) [pipeline.py: 300] +05/12 10:47:01 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.48s: + episode_total: mean=53.92s, total=161.75s, count=3, min=185.4ms, max=161368.1ms + sensor_polling: mean=407.9ms, total=113.82s, count=279, min=321.5ms, max=590.4ms + save_trajectories: mean=8.87s, total=8.87s, count=1, min=8870.4ms, max=8870.4ms + physics_step: mean=24.5ms, total=6.82s, count=279, min=14.9ms, max=61.9ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3481.8ms, max=3481.8ms + task_specific_sample: mean=284.3ms, total=853.0ms, count=3, min=181.0ms, max=480.0ms + task_sampling: mean=482.0ms, total=482.0ms, count=1, min=482.0ms, max=482.0ms + task_sampling_failed: mean=191.1ms, total=382.1ms, count=2, min=185.4ms, max=196.7ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=0.9ms, max=2.6ms + mj_forward_sync: mean=383.4us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:47:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145350m [env.py: 870] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=180.5ms, total=180.6ms [env.py: 1105] +05/12 10:47:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:47:03 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:47:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169857m [env.py: 870] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39687609 -1.10986134 -0.16985693] yaw=-39.0deg [env.py: 1019] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3682053 -0.82574336 -0.16985693] yaw=-61.5deg [env.py: 1019] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:47:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms [env.py: 1075] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -1.110, -0.170) [env.py: 1079] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg [env.py: 1082] +05/12 10:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:47:04 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 10:47:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:47:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.427s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:47:07 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.650[m] 73.919[deg] [grasp_sample.py: 539] +05/12 10:47:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:47:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:47:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:47:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:47:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:47:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:47:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:47:36 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:47:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:47:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:47:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.46s (batch: 4.08s, save: 11.38s) [pipeline.py: 300] +05/12 10:47:37 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=2.99s: + episode_total: mean=21.72s, total=195.51s, count=9, min=212.3ms, max=148388.5ms + sensor_polling: mean=325.2ms, total=111.21s, count=342, min=298.0ms, max=525.1ms + save_trajectories: mean=11.38s, total=11.38s, count=1, min=11375.2ms, max=11375.2ms + physics_step: mean=21.2ms, total=7.24s, count=342, min=14.8ms, max=33.4ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4083.6ms, max=4083.6ms + task_specific_sample: mean=377.6ms, total=3.40s, count=9, min=209.3ms, max=487.5ms + task_sampling: mean=427.6ms, total=2.99s, count=7, min=409.0ms, max=490.0ms + task_sampling_failed: mean=214.0ms, total=427.9ms, count=2, min=212.2ms, max=215.7ms + scene_randomize: mean=1.2ms, total=10.6ms, count=9, min=0.9ms, max=2.6ms + mj_forward_sync: mean=388.2us, total=3.5ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:47:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118791m [env.py: 870] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1795092 -1.00874184 -0.11879092] yaw=-37.9deg [env.py: 1019] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:47:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=240.0ms, total=240.1ms [env.py: 1075] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.009, -0.119) [env.py: 1079] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg [env.py: 1082] +05/12 10:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:47:38 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 10:47:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:47:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.677s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:47:40 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:47:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126446m [env.py: 870] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=310.6ms, total=310.6ms [env.py: 1105] +05/12 10:47:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:47:42 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:47:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173467m [env.py: 870] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=343.7ms, total=343.7ms [env.py: 1105] +05/12 10:47:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:47:44 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:47:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107497m [env.py: 870] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28078759 -1.08360747 -0.10749723] yaw=-48.5deg [env.py: 1019] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39815383 -0.89062817 -0.10749723] yaw=-63.2deg [env.py: 1019] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:47:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.5ms, total=261.5ms [env.py: 1075] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -1.084, -0.107) [env.py: 1079] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/12 10:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:47:45 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 10:47:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:47:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.101s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:47:52 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.714[m] 86.363[deg] [grasp_sample.py: 539] +05/12 10:47:53 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:47:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109545m [env.py: 870] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=487.6ms, total=487.6ms [env.py: 1105] +05/12 10:47:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:47:54 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:47:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:47:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:47:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:47:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120609m [env.py: 870] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63878365 -0.82490474 -0.12060891] yaw=-75.6deg [env.py: 1019] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:47:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=322.2ms, total=322.3ms [env.py: 1075] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.825, -0.121) [env.py: 1079] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.6 deg [env.py: 1082] +05/12 10:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:47:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:47:56 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 10:47:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 10:47:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:47:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:47:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:47:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:47:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:47:57 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 10:47:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.478s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:47:58 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.761[m] 93.680[deg] [grasp_sample.py: 539] +05/12 10:47:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:47:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:47:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:48:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:48:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:48:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.01s (batch: 3.51s, save: 9.50s) [pipeline.py: 300] +05/12 10:48:11 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.42s: + episode_total: mean=161.50s, total=161.50s, count=1, min=161504.7ms, max=161504.7ms + sensor_polling: mean=391.9ms, total=114.04s, count=291, min=299.7ms, max=574.5ms + save_trajectories: mean=9.50s, total=9.50s, count=1, min=9501.5ms, max=9501.5ms + physics_step: mean=25.4ms, total=7.38s, count=291, min=19.3ms, max=36.4ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3508.3ms, max=3508.3ms + task_sampling: mean=416.2ms, total=416.2ms, count=1, min=416.2ms, max=416.2ms + task_specific_sample: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=428.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:48:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:48:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:48:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:48:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:48:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:48:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:48:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189360m [env.py: 870] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:48:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36991703 -0.81978834 -0.18935979] yaw=-64.2deg [env.py: 1019] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52331935 -0.79852052 -0.18935979] yaw=-63.1deg [env.py: 1019] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12928057 -1.09552907 -0.18935979] yaw=-31.0deg [env.py: 1019] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:48:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.5ms [env.py: 1075] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -0.820, -0.189) [env.py: 1079] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.2 deg [env.py: 1082] +05/12 10:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:48:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:48:13 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 10:48:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 10:48:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:48:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:48:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:48:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.667s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:48:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:48:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:48:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155590m [env.py: 870] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.6ms, total=192.7ms [env.py: 1105] +05/12 10:48:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:48:16 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:48:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:48:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:48:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:48:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:48:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:48:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190290m [env.py: 870] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:48:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=189.2ms, total=189.2ms [env.py: 1105] +05/12 10:48:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:48:17 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:48:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:48:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:48:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:48:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:48:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:48:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161771m [env.py: 870] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:48:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35316108 -1.19415941 -0.161771 ] yaw=-33.9deg [env.py: 1019] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1075] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -1.194, -0.162) [env.py: 1079] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.9 deg [env.py: 1082] +05/12 10:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:48:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:48:19 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 10:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:48:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:48:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:48:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:48:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.634[m] 80.568[deg] [grasp_sample.py: 539] +05/12 10:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:48:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:48:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:48:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:48:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:48:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:48:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:48:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.736s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:48:35 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.582[m] 66.500[deg] [grasp_sample.py: 539] +05/12 10:48:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:48:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:48:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:48:51 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:49:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:49:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:49:09 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 10:49:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:49:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:49:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:49:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 14.14s (batch: 3.83s, save: 10.31s) [pipeline.py: 300] +05/12 10:49:24 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.45s: + episode_total: mean=69.98s, total=139.96s, count=2, min=191.8ms, max=139765.9ms + sensor_polling: mean=359.3ms, total=95.22s, count=265, min=311.5ms, max=581.2ms + save_trajectories: mean=10.31s, total=10.31s, count=1, min=10307.7ms, max=10307.7ms + physics_step: mean=22.4ms, total=5.95s, count=265, min=19.0ms, max=78.3ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.1ms, max=3828.1ms + task_specific_sample: mean=316.8ms, total=633.6ms, count=2, min=186.2ms, max=447.5ms + task_sampling: mean=450.1ms, total=450.1ms, count=1, min=450.1ms, max=450.1ms + task_sampling_failed: mean=191.8ms, total=191.8ms, count=1, min=191.8ms, max=191.8ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=410.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:49:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:49:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:49:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:49:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:49:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:49:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:49:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147003m [env.py: 870] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:49:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34916445 -0.94717071 -0.14700323] yaw=-46.9deg [env.py: 1019] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:49:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.7ms [env.py: 1075] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -0.947, -0.147) [env.py: 1079] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 10:49:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:49:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:49:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:49:26 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 10:49:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 10:49:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:49:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:49:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:49:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:49:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:49:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:49:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:49:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:49:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:49:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.157s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:49:33 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.754[m] 85.567[deg] [grasp_sample.py: 539] +05/12 10:49:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:49:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:49:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:49:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.489s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:49:34 INFO: [Worker 0] Feasible grasp found 473 (originally 473): w/ 0.253[m] 9.556[deg] [grasp_sample.py: 539] +05/12 10:49:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:49:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:49:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:49:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:49:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:49:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:49:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:49:37 INFO: [Worker 0] Feasible grasp found 473 (originally 473): w/ 0.482[m] 22.303[deg] [grasp_sample.py: 539] +05/12 10:49:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:49:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:49:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:49:53 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:49:53 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:49:53 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=1.58s: + episode_total: mean=21.52s, total=129.13s, count=6, min=323.2ms, max=117745.5ms + sensor_polling: mean=358.7ms, total=71.39s, count=199, min=299.8ms, max=561.4ms + physics_step: mean=21.8ms, total=4.33s, count=199, min=13.3ms, max=58.1ms + task_specific_sample: mean=455.3ms, total=2.73s, count=6, min=315.8ms, max=590.1ms + task_sampling: mean=527.8ms, total=1.58s, count=3, min=487.5ms, max=592.1ms + task_sampling_failed: mean=390.0ms, total=1.17s, count=3, min=323.2ms, max=495.7ms + scene_randomize: mean=1.3ms, total=7.8ms, count=6, min=0.9ms, max=2.9ms + mj_forward_sync: mean=404.0us, total=2.4ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:49:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:49:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:49:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:49:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:49:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:49:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:49:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191277m [env.py: 870] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:49:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.65365756 -0.97349206 -0.191277 ] yaw=-67.9deg [env.py: 1019] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:49:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.1ms, total=216.1ms [env.py: 1075] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.654, -0.973, -0.191) [env.py: 1079] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/12 10:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:49:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:49:55 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 10:49:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 10:49:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:49:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:49:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:49:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.752s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:49:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.578[m] 89.291[deg] [grasp_sample.py: 539] +05/12 10:49:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:49:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:49:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:49:59 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:50:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:50:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:50:19 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 10:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:50:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:50:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:50:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:50:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:50:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.607s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:50:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.455[m] 65.940[deg] [grasp_sample.py: 539] +05/12 10:50:20 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:50:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:50:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:50:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:50:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:50:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:50:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164464m [env.py: 870] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:50:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29789989 -1.05757497 -0.16446356] yaw=-37.1deg [env.py: 1019] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59741371 -0.85042466 -0.16446356] yaw=-74.0deg [env.py: 1019] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:50:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.2ms, total=211.2ms [env.py: 1075] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.058, -0.164) [env.py: 1079] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.1 deg [env.py: 1082] +05/12 10:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:50:22 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 10:50:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 10:50:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:50:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:50:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:50:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:50:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.713[m] 81.368[deg] [grasp_sample.py: 539] +05/12 10:50:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:50:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:50:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:50:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:50:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:50:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.76s (batch: 3.00s, save: 8.76s) [pipeline.py: 300] +05/12 10:50:31 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.87s: + episode_total: mean=33.77s, total=135.10s, count=4, min=196.8ms, max=132377.3ms + sensor_polling: mean=338.5ms, total=89.02s, count=263, min=300.9ms, max=556.4ms + save_trajectories: mean=8.76s, total=8.76s, count=1, min=8759.5ms, max=8759.5ms + physics_step: mean=22.0ms, total=5.79s, count=263, min=15.4ms, max=30.2ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3002.1ms, max=3002.1ms + task_specific_sample: mean=314.4ms, total=1.26s, count=4, min=193.9ms, max=468.4ms + task_sampling: mean=436.0ms, total=872.0ms, count=2, min=399.8ms, max=472.1ms + task_sampling_failed: mean=199.1ms, total=398.1ms, count=2, min=196.8ms, max=201.4ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.0ms, max=2.5ms + mj_forward_sync: mean=418.7us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:50:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:50:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:50:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:50:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:50:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:50:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168537m [env.py: 870] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:50:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.321904 -1.13432486 -0.16853669] yaw=-50.0deg [env.py: 1019] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:50:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=208.9ms [env.py: 1075] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.134, -0.169) [env.py: 1079] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg [env.py: 1082] +05/12 10:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:50:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:50:33 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 10:50:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 10:50:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:50:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:50:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:50:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.870s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:50:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 90.377[deg] [grasp_sample.py: 539] +05/12 10:50:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:50:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:50:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:50:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:50:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:50:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:50:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:51:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:51:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:51:54 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:52:00 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:52:08 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:52:14 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:52:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:52:14 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 10:52:20 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:52:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:52:20 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 10:52:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:52:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:52:27 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 10:52:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:52:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:52:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.30s (batch: 3.65s, save: 9.66s) [pipeline.py: 300] +05/12 10:52:28 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.50s: + episode_total: mean=183.25s, total=183.25s, count=1, min=183249.9ms, max=183249.9ms + sensor_polling: mean=432.2ms, total=124.46s, count=288, min=310.0ms, max=636.7ms + save_trajectories: mean=9.66s, total=9.66s, count=1, min=9655.3ms, max=9655.3ms + physics_step: mean=24.9ms, total=7.16s, count=288, min=16.7ms, max=33.9ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3648.3ms, max=3648.3ms + task_sampling: mean=497.3ms, total=497.3ms, count=1, min=497.3ms, max=497.3ms + task_specific_sample: mean=493.6ms, total=493.6ms, count=1, min=493.6ms, max=493.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=437.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:52:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146018m [env.py: 870] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42489582 -1.1156658 -0.14601817] yaw=-39.9deg [env.py: 1019] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.5ms, total=268.6ms [env.py: 1075] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -1.116, -0.146) [env.py: 1079] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/12 10:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:30 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:52:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:52:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.13s (batch: 3.21s, save: 8.92s) [pipeline.py: 300] +05/12 10:52:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.169s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.662[m] 91.617[deg] [grasp_sample.py: 539] +05/12 10:52:33 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.88s: + episode_total: mean=78.49s, total=156.98s, count=2, min=25500.7ms, max=131483.5ms + sensor_polling: mean=316.6ms, total=100.36s, count=317, min=291.8ms, max=486.5ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8920.1ms, max=8920.1ms + physics_step: mean=20.9ms, total=6.62s, count=317, min=14.8ms, max=33.9ms + save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3214.7ms, max=3214.7ms + task_sampling: mean=440.6ms, total=881.2ms, count=2, min=436.9ms, max=444.3ms + task_specific_sample: mean=437.8ms, total=875.7ms, count=2, min=433.6ms, max=442.1ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.1ms + mj_forward_sync: mean=399.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:52:34 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162961m [env.py: 870] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45023332 -0.85346121 -0.16296075] yaw=-68.8deg [env.py: 1019] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.3ms [env.py: 1075] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -0.853, -0.163) [env.py: 1079] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg [env.py: 1082] +05/12 10:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:35 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199992m [env.py: 870] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32393163 -0.9496428 -0.1999916 ] yaw=-44.4deg [env.py: 1019] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms [env.py: 1075] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -0.950, -0.200) [env.py: 1079] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 10:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:35 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.087s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:39 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.791[m] 92.096[deg] [grasp_sample.py: 539] +05/12 10:52:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:52:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:52:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:52:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.08s (batch: 3.49s, save: 8.58s) [pipeline.py: 300] +05/12 10:52:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:52:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.239s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:40 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.756[m] 75.341[deg] [grasp_sample.py: 539] +05/12 10:52:40 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.45s: + episode_total: mean=127.72s, total=127.72s, count=1, min=127722.2ms, max=127722.2ms + sensor_polling: mean=320.4ms, total=85.55s, count=267, min=297.2ms, max=485.9ms + save_trajectories: mean=8.58s, total=8.58s, count=1, min=8584.1ms, max=8584.1ms + physics_step: mean=21.3ms, total=5.68s, count=267, min=14.7ms, max=34.4ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3491.2ms, max=3491.2ms + task_sampling: mean=445.6ms, total=445.6ms, count=1, min=445.6ms, max=445.6ms + task_specific_sample: mean=442.0ms, total=442.0ms, count=1, min=442.0ms, max=442.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=427.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:52:41 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153245m [env.py: 870] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32978165 -0.8594572 -0.15324489] yaw=-62.4deg [env.py: 1019] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.53872419 -0.82502737 -0.15324489] yaw=-69.1deg [env.py: 1019] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.9ms, total=211.0ms [env.py: 1075] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -0.859, -0.153) [env.py: 1079] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/12 10:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:41 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161332m [env.py: 870] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.9ms, total=188.0ms [env.py: 1105] +05/12 10:52:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:52:42 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:52:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.514s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:52:43 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:52:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129477m [env.py: 870] +05/12 10:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29732757 -0.9762043 -0.12947661] yaw=-56.7deg [env.py: 1019] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55744142 -0.95352522 -0.12947661] yaw=-63.7deg [env.py: 1019] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.2ms [env.py: 1075] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -0.976, -0.129) [env.py: 1079] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg [env.py: 1082] +05/12 10:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 10:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:44 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116695m [env.py: 870] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36139881 -0.88654166 -0.11669478] yaw=-45.9deg [env.py: 1019] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=571.1ms, total=571.1ms [env.py: 1075] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.887, -0.117) [env.py: 1079] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 10:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:45 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.661s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:52:47 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:52:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106375m [env.py: 870] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28072921 -0.9730474 -0.10637546] yaw=-41.5deg [env.py: 1019] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=155.0ms, total=155.0ms [env.py: 1075] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.973, -0.106) [env.py: 1079] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/12 10:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m [env.py: 1086] +05/12 10:52:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:49 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.281s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:52:50 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:52:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116813m [env.py: 870] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42561515 -0.96204003 -0.11681265] yaw=-52.8deg [env.py: 1019] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.3ms, total=198.3ms [env.py: 1075] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.962, -0.117) [env.py: 1079] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/12 10:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:52 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.396s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:52 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.742[m] 90.805[deg] [grasp_sample.py: 539] +05/12 10:52:54 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:52:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135185m [env.py: 870] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=313.1ms, total=313.1ms [env.py: 1105] +05/12 10:52:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:52:55 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:52:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.654s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.736[m] 87.033[deg] [grasp_sample.py: 539] +05/12 10:52:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182077m [env.py: 870] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4365412 -0.95541057 -0.18207666] yaw=-46.2deg [env.py: 1019] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60367138 -0.72202749 -0.18207666] yaw=-75.3deg [env.py: 1019] +05/12 10:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:52:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=197.1ms, total=197.2ms [env.py: 1075] +05/12 10:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.955, -0.182) [env.py: 1079] +05/12 10:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/12 10:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 10:52:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:52:57 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 10:52:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:52:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:52:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:52:57 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:52:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:52:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:52:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:52:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:52:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:52:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189697m [env.py: 870] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=207.7ms, total=207.8ms [env.py: 1105] +05/12 10:52:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:52:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.489s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:52:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.719[m] 83.867[deg] [grasp_sample.py: 539] +05/12 10:52:58 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:52:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:52:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:52:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:52:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:53:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:53:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:53:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:53:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192161m [env.py: 870] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57401522 -1.00850718 -0.19216106] yaw=-68.3deg [env.py: 1019] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms [env.py: 1075] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.574, -1.009, -0.192) [env.py: 1079] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 10:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:53:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:53:00 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 10:53:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 10:53:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.840s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:01 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.593[m] 101.343[deg] [grasp_sample.py: 539] +05/12 10:53:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:53:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:53:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:53:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:53:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.509s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:43 INFO: [Worker 0] Feasible grasp found 437 (originally 437): w/ 0.489[m] 72.237[deg] [grasp_sample.py: 539] +05/12 10:53:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:53:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:53:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:53:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.529s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:50 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.174[m] 24.647[deg] [grasp_sample.py: 539] +05/12 10:53:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:53:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:53:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:53:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:53:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:53:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:53:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:53:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.774s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:53:57 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.459[m] 71.361[deg] [grasp_sample.py: 539] +05/12 10:53:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:53:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:53:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:54:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:54:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:54:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:54:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:54:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.834s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:54:11 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.459[m] 71.361[deg] [grasp_sample.py: 539] +05/12 10:54:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:54:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:54:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:54:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 10:54:22 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 10:54:22 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=False episode_total=2.35s: + episode_total: mean=15.82s, total=94.89s, count=6, min=216.5ms, max=82655.4ms + sensor_polling: mean=323.6ms, total=23.94s, count=74, min=300.3ms, max=497.5ms + task_specific_sample: mean=424.3ms, total=2.55s, count=6, min=213.6ms, max=790.1ms + task_sampling: mean=469.0ms, total=2.35s, count=5, min=325.6ms, max=793.2ms + physics_step: mean=18.5ms, total=1.37s, count=74, min=12.8ms, max=28.3ms + task_sampling_failed: mean=216.5ms, total=216.5ms, count=1, min=216.5ms, max=216.5ms + scene_randomize: mean=1.2ms, total=7.3ms, count=6, min=1.0ms, max=1.9ms + mj_forward_sync: mean=412.2us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:54:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:54:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:54:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:54:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:54:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:54:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:54:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194481m [env.py: 870] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:54:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57568031 -0.97207042 -0.19448134] yaw=-57.0deg [env.py: 1019] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:54:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.972, -0.194) [env.py: 1079] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 10:54:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:54:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:54:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:54:24 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 10:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 10:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:54:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:54:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:54:25 INFO: [Worker 0] Object is not in grasp! 0.00125 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:54:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:54:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:54:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:54:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 406 non-colliding grasps [grasp_sample.py: 465] +05/12 10:54:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.618s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:54:27 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.634[m] 88.287[deg] [grasp_sample.py: 539] +05/12 10:54:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:54:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:54:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:54:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.079s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:54:28 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.064[m] 19.456[deg] [grasp_sample.py: 539] +05/12 10:54:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:54:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:54:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:54:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:52 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:54:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:54:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:54:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:54:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:54:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:55:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.405s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:55:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.448[m] 55.632[deg] [grasp_sample.py: 539] +05/12 10:55:02 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:55:02 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:55:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:55:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:55:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:55:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:55:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:55:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:55:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195671m [env.py: 870] +05/12 10:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:55:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34160368 -1.14595579 -0.19567106] yaw=-48.1deg [env.py: 1019] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:55:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=309.3ms, total=309.3ms [env.py: 1075] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.146, -0.196) [env.py: 1079] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/12 10:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/12 10:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:55:04 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 10:55:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 10:55:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:55:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:55:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:55:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:55:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.626[m] 91.537[deg] [grasp_sample.py: 539] +05/12 10:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:55:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:55:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:55:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:55:11 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:55:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:55:11 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 10:55:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:55:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:55:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.65s (batch: 3.68s, save: 8.97s) [pipeline.py: 300] +05/12 10:55:25 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=1.75s: + episode_total: mean=28.09s, total=168.55s, count=6, min=198.3ms, max=148183.6ms + sensor_polling: mean=374.8ms, total=104.58s, count=279, min=320.5ms, max=605.9ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8970.4ms, max=8970.4ms + physics_step: mean=22.0ms, total=6.13s, count=279, min=14.6ms, max=31.7ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3684.2ms, max=3684.2ms + task_specific_sample: mean=374.7ms, total=2.25s, count=6, min=194.4ms, max=507.2ms + task_sampling: mean=436.7ms, total=1.75s, count=4, min=403.9ms, max=510.8ms + task_sampling_failed: mean=259.4ms, total=518.8ms, count=2, min=198.2ms, max=320.5ms + scene_randomize: mean=1.2ms, total=7.4ms, count=6, min=0.9ms, max=2.5ms + mj_forward_sync: mean=436.0us, total=2.6ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=11.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:55:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:55:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:55:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182534m [env.py: 870] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=265.5ms, total=265.5ms [env.py: 1105] +05/12 10:55:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:55:26 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:55:26 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:55:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:55:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:55:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:55:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:55:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:55:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:55:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:55:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193911m [env.py: 870] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:55:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35845513 -1.15293619 -0.19391114] yaw=-48.9deg [env.py: 1019] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:55:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.5ms, total=169.5ms [env.py: 1075] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -1.153, -0.194) [env.py: 1079] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 10:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:55:28 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 10:55:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 10:55:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:55:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:55:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:55:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:55:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.570[m] 80.894[deg] [grasp_sample.py: 539] +05/12 10:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:55:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:55:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:55:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:55:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:55:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:55:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.41s (batch: 3.74s, save: 9.66s) [pipeline.py: 300] +05/12 10:55:40 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.40s: + episode_total: mean=186.09s, total=186.09s, count=1, min=186088.0ms, max=186088.0ms + sensor_polling: mean=348.2ms, total=104.45s, count=300, min=292.8ms, max=589.7ms + save_trajectories: mean=9.66s, total=9.66s, count=1, min=9664.6ms, max=9664.6ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=14.2ms, max=37.6ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.1ms, max=3743.1ms + task_sampling: mean=396.8ms, total=396.8ms, count=1, min=396.8ms, max=396.8ms + task_specific_sample: mean=393.2ms, total=393.2ms, count=1, min=393.2ms, max=393.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=361.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:55:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:55:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:55:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:55:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:55:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:55:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108228m [env.py: 870] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:55:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22649593 -1.04147021 -0.1082275 ] yaw=-47.6deg [env.py: 1019] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:55:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.1ms, total=221.2ms [env.py: 1075] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.041, -0.108) [env.py: 1079] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/12 10:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:55:42 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 10:55:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 10:55:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:55:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:55:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:55:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.380s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:55:45 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 10:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:55:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:55:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:55:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:55:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151575m [env.py: 870] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29716367 -1.09064932 -0.15157529] yaw=-44.9deg [env.py: 1019] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20526451 -1.10517796 -0.15157529] yaw=-47.6deg [env.py: 1019] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:55:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.0ms, total=201.0ms [env.py: 1075] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.091, -0.152) [env.py: 1079] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/12 10:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:55:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:55:47 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 10:55:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 10:55:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:55:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:55:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:55:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:55:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.516s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:55:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.718[m] 87.466[deg] [grasp_sample.py: 539] +05/12 10:55:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:55:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:55:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:55:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:55:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:55:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:56:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:56:44 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:56:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:56:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:57:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:57:03 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/12 10:57:07 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:57:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:57:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:57:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.11s (batch: 3.30s, save: 8.81s) [pipeline.py: 300] +05/12 10:57:16 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.00s: + episode_total: mean=85.57s, total=171.14s, count=2, min=38484.1ms, max=132659.7ms + sensor_polling: mean=359.0ms, total=112.37s, count=313, min=291.3ms, max=632.9ms + save_trajectories: mean=8.81s, total=8.81s, count=1, min=8812.9ms, max=8812.9ms + physics_step: mean=22.7ms, total=7.11s, count=313, min=14.4ms, max=31.2ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3301.2ms, max=3301.2ms + task_sampling: mean=499.7ms, total=999.3ms, count=2, min=435.0ms, max=564.3ms + task_specific_sample: mean=496.7ms, total=993.5ms, count=2, min=432.7ms, max=560.7ms + scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.1ms, max=1.6ms + mj_forward_sync: mean=408.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=12.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:57:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:57:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:57:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:57:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:57:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:57:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:57:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177616m [env.py: 870] +05/12 10:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:57:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:57:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=306.0ms, total=306.0ms [env.py: 1105] +05/12 10:57:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:57:18 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:57:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:57:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:57:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:57:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:57:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:57:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:57:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175287m [env.py: 870] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:57:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53465631 -1.00204029 -0.17528734] yaw=-68.3deg [env.py: 1019] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44506321 -0.88357271 -0.17528734] yaw=-63.7deg [env.py: 1019] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:57:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.5ms, total=200.5ms [env.py: 1075] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -1.002, -0.175) [env.py: 1079] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 10:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:57:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:57:19 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 10:57:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 10:57:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:57:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:57:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:57:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.073s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:57:21 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.647[m] 79.968[deg] [grasp_sample.py: 539] +05/12 10:57:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:57:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:57:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:57:24 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:57:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 10:57:24 INFO: [Worker 0] Preparing episode data: 252 timesteps [save_utils.py: 278] +05/12 10:57:31 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:57:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:57:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:57:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.38s (batch: 3.25s, save: 8.14s) [pipeline.py: 300] +05/12 10:57:36 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.38s: + episode_total: mean=64.71s, total=129.41s, count=2, min=278.0ms, max=129132.1ms + sensor_polling: mean=356.7ms, total=89.54s, count=251, min=321.7ms, max=598.9ms + save_trajectories: mean=8.14s, total=8.14s, count=1, min=8135.7ms, max=8135.7ms + physics_step: mean=21.1ms, total=5.29s, count=251, min=14.4ms, max=29.5ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3247.1ms, max=3247.1ms + task_specific_sample: mean=326.2ms, total=652.4ms, count=2, min=272.3ms, max=380.1ms + task_sampling: mean=382.7ms, total=382.7ms, count=1, min=382.7ms, max=382.7ms + task_sampling_failed: mean=278.0ms, total=278.0ms, count=1, min=278.0ms, max=278.0ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=397.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:57:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:57:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:57:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183057m [env.py: 870] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44380648 -1.06323549 -0.18305678] yaw=-56.5deg [env.py: 1019] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.1ms, total=222.2ms [env.py: 1075] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.444, -1.063, -0.183) [env.py: 1079] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/12 10:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:57:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:57:38 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 10:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 10:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:57:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:57:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:57:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:57:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.654[m] 91.344[deg] [grasp_sample.py: 539] +05/12 10:57:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:57:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:57:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:57:54 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:57:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 10:57:54 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 10:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 10:58:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 10:58:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.32s (batch: 3.54s, save: 8.79s) [pipeline.py: 300] +05/12 10:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:07 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.90s: + episode_total: mean=71.91s, total=143.82s, count=2, min=3271.1ms, max=140550.8ms + sensor_polling: mean=327.7ms, total=91.77s, count=280, min=303.7ms, max=540.6ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8787.4ms, max=8787.4ms + physics_step: mean=21.2ms, total=5.95s, count=280, min=14.8ms, max=32.7ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3537.2ms, max=3537.2ms + task_sampling: mean=447.7ms, total=895.5ms, count=2, min=412.8ms, max=482.6ms + task_specific_sample: mean=444.6ms, total=889.1ms, count=2, min=410.3ms, max=478.9ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=0.9ms, max=2.6ms + mj_forward_sync: mean=369.7us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 10:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163778m [env.py: 870] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29867683 -0.99483764 -0.1637784 ] yaw=-46.9deg [env.py: 1019] +05/12 10:58:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.7ms, total=184.7ms [env.py: 1075] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -0.995, -0.164) [env.py: 1079] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 10:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:58:08 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 10:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:58:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:58:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.943s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.733[m] 80.830[deg] [grasp_sample.py: 539] +05/12 10:58:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.632s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.466[m] 59.881[deg] [grasp_sample.py: 539] +05/12 10:58:13 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:58:14 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:58:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125786m [env.py: 870] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52262328 -0.82884705 -0.12578568] yaw=-69.8deg [env.py: 1019] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.8ms [env.py: 1075] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.829, -0.126) [env.py: 1079] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg [env.py: 1082] +05/12 10:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:58:14 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 10:58:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167394m [env.py: 870] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44968431 -0.93347727 -0.16739396] yaw=-65.2deg [env.py: 1019] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.7ms, total=198.7ms [env.py: 1075] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -0.933, -0.167) [env.py: 1079] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/12 10:58:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:58:15 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 10:58:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:58:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.124s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.711[m] 98.586[deg] [grasp_sample.py: 539] +05/12 10:58:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:58:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:58:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:58:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.305s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:19 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.775[m] 83.356[deg] [grasp_sample.py: 539] +05/12 10:58:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:20 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:58:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174869m [env.py: 870] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37297578 -0.95270129 -0.17486882] yaw=-64.6deg [env.py: 1019] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.8ms [env.py: 1075] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.373, -0.953, -0.175) [env.py: 1079] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 10:58:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:58:21 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 10:58:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.602s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:25 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.769[m] 94.691[deg] [grasp_sample.py: 539] +05/12 10:58:26 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:58:27 INFO: [Worker 0] Object is not in grasp! 0.00192 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:58:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:58:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 369 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113830m [env.py: 870] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3760933 -0.82647778 -0.11383045] yaw=-53.5deg [env.py: 1019] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.4ms, total=192.4ms [env.py: 1075] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.376, -0.826, -0.114) [env.py: 1079] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 10:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:58:28 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 10:58:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.101s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:29 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.065[m] 5.346[deg] [grasp_sample.py: 539] +05/12 10:58:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: False [grasp_sample.py: 500] +05/12 10:58:29 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 10:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:58:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:58:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125029m [env.py: 870] +05/12 10:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45879107 -1.01043106 -0.1250294 ] yaw=-46.6deg [env.py: 1019] +05/12 10:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33371444 -0.88181079 -0.1250294 ] yaw=-54.0deg [env.py: 1019] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=458.1ms, total=458.1ms [env.py: 1075] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -1.010, -0.125) [env.py: 1079] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 10:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 10:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:58:31 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 10:58:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.623s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:35 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.675[m] 89.296[deg] [grasp_sample.py: 539] +05/12 10:58:36 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 10:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134225m [env.py: 870] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.3ms, total=193.4ms [env.py: 1105] +05/12 10:58:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:58:37 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:58:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159570m [env.py: 870] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=377.3ms, total=377.4ms [env.py: 1105] +05/12 10:58:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 10:58:39 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 10:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 10:58:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 10:58:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 10:58:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 10:58:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 10:58:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122260m [env.py: 870] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 10:58:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32392367 -1.22752501 -0.12226 ] yaw=-37.3deg [env.py: 1019] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 10:58:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.4ms [env.py: 1075] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.228, -0.122) [env.py: 1079] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/12 10:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 10:58:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 10:58:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 10:58:40 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 10:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 10:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:44 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.681[m] 83.626[deg] [grasp_sample.py: 539] +05/12 10:58:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:58:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:58:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 10:58:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 10:58:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 10:58:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:58:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:54 INFO: [Worker 0] Object is not in grasp! 0.00161 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 10:58:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 10:58:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 10:58:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 10:58:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 391 non-colliding grasps [grasp_sample.py: 465] +05/12 10:58:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.713s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:54 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.547[m] 67.945[deg] [grasp_sample.py: 539] +05/12 10:58:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:58:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:58:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:58:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: True [grasp_sample.py: 500] +05/12 10:58:55 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.071[m] 2.451[deg] [grasp_sample.py: 539] +05/12 10:58:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 10:58:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 10:58:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:59:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:26 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 10:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 10:59:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:59:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 10:59:47 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 10:59:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 10:59:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 10:59:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 10:59:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:00:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:00:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:00:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.15s (batch: 3.63s, save: 9.53s) [pipeline.py: 300] +05/12 11:00:00 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.44s: + episode_total: mean=80.93s, total=161.86s, count=2, min=317.3ms, max=161546.0ms + sensor_polling: mean=352.3ms, total=105.70s, count=300, min=291.6ms, max=748.4ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9525.1ms, max=9525.1ms + physics_step: mean=23.1ms, total=6.94s, count=300, min=14.6ms, max=54.3ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3626.4ms, max=3626.4ms + task_specific_sample: mean=373.6ms, total=747.2ms, count=2, min=311.5ms, max=435.7ms + task_sampling: mean=438.3ms, total=438.3ms, count=1, min=438.3ms, max=438.3ms + task_sampling_failed: mean=317.3ms, total=317.3ms, count=1, min=317.3ms, max=317.3ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.0ms, max=2.3ms + mj_forward_sync: mean=392.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:00:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108994m [env.py: 870] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42296102 -1.1000763 -0.10899365] yaw=-58.5deg [env.py: 1019] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57011794 -0.99027368 -0.10899365] yaw=-60.6deg [env.py: 1019] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=246.3ms, total=246.4ms [env.py: 1075] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -1.100, -0.109) [env.py: 1079] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/12 11:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:00:02 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 11:00:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 11:00:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:00:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:00:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:00:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.997s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:00:06 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.660[m] 89.249[deg] [grasp_sample.py: 539] +05/12 11:00:07 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:00:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145741m [env.py: 870] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=451.3ms, total=451.3ms [env.py: 1105] +05/12 11:00:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:00:09 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:00:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115039m [env.py: 870] +05/12 11:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32207139 -0.91103958 -0.11503895] yaw=-54.0deg [env.py: 1019] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33599952 -0.87519569 -0.11503895] yaw=-57.1deg [env.py: 1019] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:00:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=436.2ms, total=436.2ms [env.py: 1075] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -0.911, -0.115) [env.py: 1079] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/12 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:00:11 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 11:00:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 11:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:00:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:00:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:00:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:00:13 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:00:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169198m [env.py: 870] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30819859 -1.11511029 -0.16919838] yaw=-36.4deg [env.py: 1019] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:00:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.5ms, total=197.5ms [env.py: 1075] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.115, -0.169) [env.py: 1079] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg [env.py: 1082] +05/12 11:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:00:14 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 11:00:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:00:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:00:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:00:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:00:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.081s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:00:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.654[m] 81.336[deg] [grasp_sample.py: 539] +05/12 11:00:17 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:00:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130996m [env.py: 870] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46180138 -1.07571407 -0.13099579] yaw=-47.0deg [env.py: 1019] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16946922 -0.97473672 -0.13099579] yaw=-32.7deg [env.py: 1019] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:00:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -1.076, -0.131) [env.py: 1079] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.0 deg [env.py: 1082] +05/12 11:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:00:18 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 11:00:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 11:00:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:00:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:00:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:00:21 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:00:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.990s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:00:22 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.637[m] 83.695[deg] [grasp_sample.py: 539] +05/12 11:00:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:00:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:00:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:00:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:00:40 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:00:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:00:40 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 11:00:42 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:00:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:00:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:00:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.62s (batch: 3.59s, save: 10.03s) [pipeline.py: 300] +05/12 11:00:55 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=2.61s: + episode_total: mean=19.78s, total=158.21s, count=8, min=201.3ms, max=134606.7ms + sensor_polling: mean=327.5ms, total=89.40s, count=273, min=301.9ms, max=491.6ms + save_trajectories: mean=10.03s, total=10.03s, count=1, min=10034.1ms, max=10034.1ms + physics_step: mean=21.1ms, total=5.77s, count=273, min=14.6ms, max=29.1ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3590.7ms, max=3590.7ms + task_specific_sample: mean=396.9ms, total=3.18s, count=8, min=198.0ms, max=682.5ms + task_sampling: mean=435.0ms, total=2.61s, count=6, min=347.6ms, max=684.5ms + task_sampling_failed: mean=293.0ms, total=586.0ms, count=2, min=201.3ms, max=384.7ms + scene_randomize: mean=1.2ms, total=9.4ms, count=8, min=0.9ms, max=2.5ms + mj_forward_sync: mean=386.5us, total=3.1ms, count=8, min=0.4ms, max=0.5ms + policy_setup: mean=12.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:00:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179548m [env.py: 870] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=173.7ms, total=173.8ms [env.py: 1105] +05/12 11:00:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:00:56 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:00:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126832m [env.py: 870] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.5ms, total=212.5ms [env.py: 1105] +05/12 11:00:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:00:58 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:00:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:00:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:00:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:00:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:00:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:00:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171905m [env.py: 870] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:00:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22010943 -1.04807695 -0.17190466] yaw=-37.6deg [env.py: 1019] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28895565 -1.17734404 -0.17190466] yaw=-37.1deg [env.py: 1019] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.2ms [env.py: 1075] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.048, -0.172) [env.py: 1079] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg [env.py: 1082] +05/12 11:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:00:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:00:59 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 11:00:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 11:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:00:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:01:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:01:02 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:01:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:01:02 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/12 11:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:01:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.323s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:01:13 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.722[m] 85.100[deg] [grasp_sample.py: 539] +05/12 11:01:14 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:01:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:01:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:01:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.82s (batch: 3.36s, save: 9.46s) [pipeline.py: 300] +05/12 11:01:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:01:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:01:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:01:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:01:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:01:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:01:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190056m [env.py: 870] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:01:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53783329 -0.80113121 -0.19005637] yaw=-57.2deg [env.py: 1019] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55707933 -0.98420757 -0.19005637] yaw=-64.9deg [env.py: 1019] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:01:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=296.2ms, total=296.2ms [env.py: 1075] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.801, -0.190) [env.py: 1079] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/12 11:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:01:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:01:16 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 11:01:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:01:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:01:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:01:16 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.93s: + episode_total: mean=108.44s, total=216.88s, count=2, min=35899.3ms, max=180978.5ms + sensor_polling: mean=381.3ms, total=132.32s, count=347, min=317.0ms, max=665.1ms + save_trajectories: mean=9.46s, total=9.46s, count=1, min=9456.7ms, max=9456.7ms + physics_step: mean=22.4ms, total=7.78s, count=347, min=14.4ms, max=32.9ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3361.3ms, max=3361.3ms + task_sampling: mean=466.7ms, total=933.5ms, count=2, min=415.3ms, max=518.2ms + task_specific_sample: mean=463.9ms, total=927.7ms, count=2, min=412.7ms, max=515.0ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.2ms, max=1.8ms + mj_forward_sync: mean=376.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:01:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:01:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:01:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:01:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:01:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:01:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:01:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:01:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103784m [env.py: 870] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:01:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=170.7ms, total=170.7ms [env.py: 1105] +05/12 11:01:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:01:17 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:01:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:01:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:01:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:01:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:01:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:01:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:01:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129308m [env.py: 870] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:01:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23719577 -1.02504255 -0.12930833] yaw=-50.6deg [env.py: 1019] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:01:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.3ms, total=174.4ms [env.py: 1075] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.025, -0.129) [env.py: 1079] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 11:01:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:01:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:01:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:01:19 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 11:01:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 11:01:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:01:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:01:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:01:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:01:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.800s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:01:22 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.775[m] 82.285[deg] [grasp_sample.py: 539] +05/12 11:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:01:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:01:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.196s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:01:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.778[m] 94.313[deg] [grasp_sample.py: 539] +05/12 11:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:01:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:01:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:01:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:01:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:02:02 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:02:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:21 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:02:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:02:21 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/12 11:02:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:02:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:02:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:02:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:02:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.49s (batch: 3.32s, save: 8.17s) [pipeline.py: 300] +05/12 11:02:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:33 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.94s: + episode_total: mean=29.33s, total=146.64s, count=5, min=465.8ms, max=135578.0ms + sensor_polling: mean=332.1ms, total=87.67s, count=264, min=286.0ms, max=539.5ms + save_trajectories: mean=8.17s, total=8.17s, count=1, min=8171.0ms, max=8171.0ms + physics_step: mean=21.4ms, total=5.66s, count=264, min=19.0ms, max=31.9ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3315.3ms, max=3315.3ms + task_specific_sample: mean=477.1ms, total=2.39s, count=5, min=395.6ms, max=662.2ms + task_sampling: mean=484.9ms, total=1.94s, count=4, min=398.0ms, max=664.8ms + task_sampling_failed: mean=465.8ms, total=465.8ms, count=1, min=465.8ms, max=465.8ms + scene_randomize: mean=1.4ms, total=6.9ms, count=5, min=1.0ms, max=1.9ms + mj_forward_sync: mean=462.1us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.2us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:02:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:02:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:02:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:02:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:02:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:02:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:02:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165743m [env.py: 870] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:02:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52515308 -1.00482516 -0.16574326] yaw=-66.7deg [env.py: 1019] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:02:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.5ms [env.py: 1075] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -1.005, -0.166) [env.py: 1079] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/12 11:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:02:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:02:35 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 11:02:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 11:02:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:02:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:02:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:02:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.288s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:02:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.637[m] 94.149[deg] [grasp_sample.py: 539] +05/12 11:02:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:02:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:02:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:02:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:03:07 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:03:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:23 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:03:28 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:03:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:03:28 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 11:03:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:03:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:03:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:03:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:03:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:03:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 361 non-colliding grasps [grasp_sample.py: 465] +05/12 11:03:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.813s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:03:41 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.548[deg] [grasp_sample.py: 539] +05/12 11:03:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:03:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:03:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:03:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.05s (batch: 3.48s, save: 9.57s) [pipeline.py: 300] +05/12 11:03:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:03:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:42 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.00s: + episode_total: mean=40.50s, total=161.98s, count=4, min=184.2ms, max=146497.1ms + sensor_polling: mean=327.9ms, total=95.74s, count=292, min=299.4ms, max=628.9ms + save_trajectories: mean=9.57s, total=9.57s, count=1, min=9570.1ms, max=9570.1ms + physics_step: mean=20.9ms, total=6.09s, count=292, min=15.0ms, max=29.9ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3475.7ms, max=3475.7ms + task_specific_sample: mean=346.9ms, total=1.39s, count=4, min=179.5ms, max=508.0ms + task_sampling: mean=497.6ms, total=995.2ms, count=2, min=485.0ms, max=510.2ms + task_sampling_failed: mean=202.3ms, total=404.7ms, count=2, min=184.1ms, max=220.5ms + scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=0.9ms, max=2.6ms + mj_forward_sync: mean=401.9us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:03:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:03:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:03:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:03:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:03:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:03:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175117m [env.py: 870] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:03:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45809317 -0.85524583 -0.17511658] yaw=-50.6deg [env.py: 1019] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31480088 -1.01034289 -0.17511658] yaw=-43.1deg [env.py: 1019] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:03:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=446.6ms, total=446.7ms [env.py: 1075] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.458, -0.855, -0.175) [env.py: 1079] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 11:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:03:44 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 11:03:44 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:03:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:03:44 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 11:03:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 11:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:03:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:03:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:03:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.698s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:03:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.783[m] 96.111[deg] [grasp_sample.py: 539] +05/12 11:03:48 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:03:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:03:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:03:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:03:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:03:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:03:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103147m [env.py: 870] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:03:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10189369 -1.0730649 -0.10314666] yaw=-40.7deg [env.py: 1019] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44841511 -0.93645604 -0.10314666] yaw=-68.8deg [env.py: 1019] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:03:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms [env.py: 1075] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.102, -1.073, -0.103) [env.py: 1079] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 11:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:03:49 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 11:03:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 11:03:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:03:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:03:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:03:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:03:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.652s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:03:51 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:03:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:03:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:03:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:03:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:03:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:03:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192867m [env.py: 870] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:03:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57860127 -0.7891168 -0.19286706] yaw=-58.3deg [env.py: 1019] +05/12 11:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:03:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=337.1ms, total=337.1ms [env.py: 1075] +05/12 11:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.579, -0.789, -0.193) [env.py: 1079] +05/12 11:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 11:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 11:03:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:03:53 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 11:03:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:03:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:03:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:03:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:03:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:03:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.871s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:03:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.796[m] 87.062[deg] [grasp_sample.py: 539] +05/12 11:03:57 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:03:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:03:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:03:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 13.42s (batch: 3.60s, save: 9.82s) [pipeline.py: 300] +05/12 11:03:58 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.38s: + episode_total: mean=79.68s, total=159.37s, count=2, min=181.0ms, max=159188.7ms + sensor_polling: mean=381.2ms, total=109.78s, count=288, min=309.0ms, max=614.9ms + save_trajectories: mean=9.82s, total=9.82s, count=1, min=9819.8ms, max=9819.8ms + physics_step: mean=22.7ms, total=6.54s, count=288, min=14.5ms, max=34.4ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3600.4ms, max=3600.4ms + task_specific_sample: mean=278.3ms, total=556.7ms, count=2, min=176.1ms, max=380.5ms + task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms + task_sampling_failed: mean=181.0ms, total=181.0ms, count=1, min=181.0ms, max=181.0ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms + mj_forward_sync: mean=358.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:03:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:03:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:03:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:03:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:03:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:03:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:03:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128789m [env.py: 870] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:03:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=333.2ms, total=333.3ms [env.py: 1105] +05/12 11:03:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:03:58 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:03:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:03:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:03:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:03:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:03:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:03:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:03:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151041m [env.py: 870] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:03:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:03:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.2ms, total=197.3ms [env.py: 1105] +05/12 11:03:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:03:59 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:04:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179932m [env.py: 870] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48999728 -0.93014107 -0.17993207] yaw=-55.2deg [env.py: 1019] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:04:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=476.2ms, total=476.3ms [env.py: 1075] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.930, -0.180) [env.py: 1079] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/12 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:04:01 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 11:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128722m [env.py: 870] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28273969 -0.90009399 -0.12872248] yaw=-40.3deg [env.py: 1019] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.179s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23382334 -0.98061887 -0.12872248] yaw=-40.3deg [env.py: 1019] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:04:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.8ms, total=208.9ms [env.py: 1075] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -0.900, -0.129) [env.py: 1079] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/12 11:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:04:01 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 11:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 11:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.422s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:04:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.737[m] 84.179[deg] [grasp_sample.py: 539] +05/12 11:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:04:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.329s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:04:03 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:04:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:04:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:04:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109659m [env.py: 870] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.2ms, total=207.2ms [env.py: 1105] +05/12 11:04:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:04:04 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:04:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101678m [env.py: 870] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.0ms, total=208.0ms [env.py: 1105] +05/12 11:04:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:04:05 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:04:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137527m [env.py: 870] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.8ms, total=193.8ms [env.py: 1105] +05/12 11:04:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:04:07 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125221m [env.py: 870] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18135188 -1.12069645 -0.12522054] yaw=-43.2deg [env.py: 1019] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.9ms, total=210.0ms [env.py: 1075] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -1.121, -0.125) [env.py: 1079] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.2 deg [env.py: 1082] +05/12 11:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:04:08 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 11:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:09 INFO: [Worker 0] Object is not in grasp! 0.00101 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:04:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 389 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:04:10 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.534[deg] [grasp_sample.py: 539] +05/12 11:04:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:04:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:04:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:04:11 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.736[m] 92.451[deg] [grasp_sample.py: 539] +05/12 11:04:12 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:04:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105162m [env.py: 870] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29028046 -0.92806808 -0.10516157] yaw=-45.2deg [env.py: 1019] +05/12 11:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:04:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1075] +05/12 11:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.290, -0.928, -0.105) [env.py: 1079] +05/12 11:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg [env.py: 1082] +05/12 11:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 11:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:04:14 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 11:04:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.322s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:04:15 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:04:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174018m [env.py: 870] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22906923 -0.90368584 -0.17401843] yaw=-47.9deg [env.py: 1019] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:04:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=213.0ms [env.py: 1075] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -0.904, -0.174) [env.py: 1079] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 11:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:04:17 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 11:04:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:04:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:04:18 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:04:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:04:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:04:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:04:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:04:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:04:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:04:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120594m [env.py: 870] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:04:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33450938 -1.19079584 -0.12059429] yaw=-48.3deg [env.py: 1019] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:04:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.4ms, total=224.4ms [env.py: 1075] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.191, -0.121) [env.py: 1079] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/12 11:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:04:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:04:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:04:20 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 11:04:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:04:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:04:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:04:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:04:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.681s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:04:24 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.676[m] 87.493[deg] [grasp_sample.py: 539] +05/12 11:04:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:04:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:04:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:04:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:04:30 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:04:51 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:04:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:04:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:04:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:05:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:05:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.92s (batch: 3.40s, save: 9.52s) [pipeline.py: 300] +05/12 11:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:04 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.46s: + episode_total: mean=149.91s, total=149.91s, count=1, min=149910.2ms, max=149910.2ms + sensor_polling: mean=329.0ms, total=98.69s, count=300, min=290.8ms, max=621.6ms + save_trajectories: mean=9.52s, total=9.52s, count=1, min=9522.9ms, max=9522.9ms + physics_step: mean=21.7ms, total=6.51s, count=300, min=14.9ms, max=88.4ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3398.2ms, max=3398.2ms + task_sampling: mean=462.8ms, total=462.8ms, count=1, min=462.8ms, max=462.8ms + task_specific_sample: mean=458.9ms, total=458.9ms, count=1, min=458.9ms, max=458.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=432.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:05:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:05:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:06 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 11:05:06 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 11:05:06 INFO: [Worker 0] Worker 0 completed house 1: 14/17 successful episodes [pipeline.py: 1323] +05/12 11:05:06 INFO: [Worker 0] [PROFILE] House 1 complete: 14/17 successful, 17 episodes, total_time=4558.75s + House averages: + episode_total: mean=37.05s, total=2667.30s, count=72, min=186.9ms, max=176392.8ms + sensor_polling: mean=352.7ms, total=1543.74s, count=4377, min=286.0ms, max=748.4ms + save_trajectories: mean=9.20s, total=128.87s, count=14, min=8171.0ms, max=10149.5ms + physics_step: mean=22.8ms, total=99.77s, count=4377, min=12.8ms, max=120.8ms + save_batch_prep: mean=3.41s, total=47.75s, count=14, min=3002.1ms, max=3661.1ms + task_specific_sample: mean=407.5ms, total=29.34s, count=72, min=182.9ms, max=790.1ms + task_sampling: mean=538.9ms, total=28.02s, count=52, min=325.6ms, max=4377.1ms + task_sampling_failed: mean=256.4ms, total=5.13s, count=20, min=186.9ms, max=465.8ms + scene_load: mean=3.59s, total=3.59s, count=1, min=3591.3ms, max=3591.3ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2022.3ms, max=2022.3ms + scene_compile: mean=1.43s, total=1.43s, count=1, min=1429.0ms, max=1429.0ms + compile_mujoco: mean=858.8ms, total=858.8ms, count=1, min=858.8ms, max=858.8ms + compile_xml_load: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms + scene_randomize: mean=1.4ms, total=98.8ms, count=72, min=0.9ms, max=2.8ms + scene_init: mean=96.2ms, total=96.2ms, count=1, min=96.2ms, max=96.2ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + mj_forward_sync: mean=446.3us, total=32.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.5us, total=0.8ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 11:05:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:05:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 17 episodes, total_time=4558.75s + Worker averages: + episode_total: mean=37.05s, total=2667.30s, count=72, min=186.9ms, max=176392.8ms + sensor_polling: mean=352.7ms, total=1543.74s, count=4377, min=286.0ms, max=748.4ms + save_trajectories: mean=9.20s, total=128.87s, count=14, min=8171.0ms, max=10149.5ms + physics_step: mean=22.8ms, total=99.77s, count=4377, min=12.8ms, max=120.8ms + save_batch_prep: mean=3.41s, total=47.75s, count=14, min=3002.1ms, max=3661.1ms + task_specific_sample: mean=407.5ms, total=29.34s, count=72, min=182.9ms, max=790.1ms + task_sampling: mean=538.9ms, total=28.02s, count=52, min=325.6ms, max=4377.1ms + task_sampling_failed: mean=256.4ms, total=5.13s, count=20, min=186.9ms, max=465.8ms + scene_load: mean=3.59s, total=3.59s, count=1, min=3591.3ms, max=3591.3ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2022.3ms, max=2022.3ms + scene_compile: mean=1.43s, total=1.43s, count=1, min=1429.0ms, max=1429.0ms + compile_mujoco: mean=858.8ms, total=858.8ms, count=1, min=858.8ms, max=858.8ms + compile_xml_load: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms + scene_randomize: mean=1.4ms, total=98.8ms, count=72, min=0.9ms, max=2.8ms + scene_init: mean=96.2ms, total=96.2ms, count=1, min=96.2ms, max=96.2ms + compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + mj_forward_sync: mean=446.3us, total=32.1ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms + compile_robot_add: mean=24.6ms, total=24.6ms, count=1, min=24.6ms, max=24.6ms + asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.5us, total=0.8ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 11:05:08 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:05:08 INFO: Success count: 14, Total count: 17 [pipeline.py: 1491] +05/12 11:05:08 INFO: Success rate: 82.35% [pipeline.py: 1492] +05/12 11:05:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.394s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:08 INFO: [Worker 0] Feasible grasp found 599 (originally 599): w/ 0.133[m] 12.312[deg] [grasp_sample.py: 539] +05/12 11:05:09 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:05:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:05:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:05:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:05:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:05:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:05:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168693m [env.py: 870] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:05:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.49855011 -1.03649292 -0.16869312] yaw=-67.2deg [env.py: 1019] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:05:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.6ms, total=198.6ms [env.py: 1075] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.499, -1.036, -0.169) [env.py: 1079] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/12 11:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:05:11 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 11:05:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:05:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.390s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.638[m] 94.669[deg] [grasp_sample.py: 539] +05/12 11:05:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:05:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:05:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:05:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:05:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:05:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:05:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.921s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.462[m] 63.396[deg] [grasp_sample.py: 539] +05/12 11:05:41 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:05:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:05:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:05:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:05:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:05:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:05:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:05:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188072m [env.py: 870] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:05:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.0ms, total=197.0ms [env.py: 1105] +05/12 11:05:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:05:42 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:05:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:05:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:05:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:05:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:05:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:05:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172464m [env.py: 870] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:05:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.60934896 -0.86954066 -0.17246445] yaw=-67.7deg [env.py: 1019] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50927769 -0.81069607 -0.17246445] yaw=-53.5deg [env.py: 1019] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56122568 -0.7702949 -0.17246445] yaw=-69.4deg [env.py: 1019] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:05:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.1ms, total=210.1ms [env.py: 1075] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.870, -0.172) [env.py: 1079] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg [env.py: 1082] +05/12 11:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:05:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:05:44 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 11:05:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:05:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:05:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:05:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.808s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:05:49 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.700[m] 92.090[deg] [grasp_sample.py: 539] +05/12 11:05:50 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:05:51 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 11:05:51 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 11:05:51 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes [pipeline.py: 1323] +05/12 11:05:51 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=4675.68s + House averages: + episode_total: mean=37.68s, total=2713.10s, count=72, min=168.8ms, max=186088.0ms + sensor_polling: mean=345.0ms, total=1614.37s, count=4680, min=291.8ms, max=1133.8ms + save_trajectories: mean=9.55s, total=124.09s, count=13, min=8573.6ms, max=11375.2ms + physics_step: mean=22.3ms, total=104.57s, count=4680, min=13.2ms, max=63.9ms + save_batch_prep: mean=3.56s, total=46.25s, count=13, min=2821.9ms, max=4201.9ms + task_specific_sample: mean=426.6ms, total=30.72s, count=72, min=166.1ms, max=975.1ms + task_sampling: mean=489.1ms, total=25.43s, count=52, min=347.6ms, max=979.1ms + task_sampling_failed: mean=444.7ms, total=8.89s, count=20, min=168.8ms, max=3711.5ms + scene_load: mean=3.39s, total=3.39s, count=1, min=3386.8ms, max=3386.8ms + scene_env_create: mean=1.97s, total=1.97s, count=1, min=1969.1ms, max=1969.1ms + scene_compile: mean=1.28s, total=1.28s, count=1, min=1279.5ms, max=1279.5ms + compile_mujoco: mean=935.8ms, total=935.8ms, count=1, min=935.8ms, max=935.8ms + compile_xml_load: mean=258.8ms, total=258.8ms, count=1, min=258.8ms, max=258.8ms + scene_randomize: mean=1.3ms, total=95.0ms, count=72, min=0.9ms, max=2.9ms + scene_init: mean=93.7ms, total=93.7ms, count=1, min=93.7ms, max=93.7ms + compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + mj_forward_sync: mean=414.7us, total=29.9ms, count=72, min=0.4ms, max=0.7ms + compile_robot_add: mean=24.8ms, total=24.8ms, count=1, min=24.8ms, max=24.8ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=14.8us, total=0.8ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 11:05:51 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:05:51 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4675.68s + Worker averages: + episode_total: mean=37.68s, total=2713.10s, count=72, min=168.8ms, max=186088.0ms + sensor_polling: mean=345.0ms, total=1614.37s, count=4680, min=291.8ms, max=1133.8ms + save_trajectories: mean=9.55s, total=124.09s, count=13, min=8573.6ms, max=11375.2ms + physics_step: mean=22.3ms, total=104.57s, count=4680, min=13.2ms, max=63.9ms + save_batch_prep: mean=3.56s, total=46.25s, count=13, min=2821.9ms, max=4201.9ms + task_specific_sample: mean=426.6ms, total=30.72s, count=72, min=166.1ms, max=975.1ms + task_sampling: mean=489.1ms, total=25.43s, count=52, min=347.6ms, max=979.1ms + task_sampling_failed: mean=444.7ms, total=8.89s, count=20, min=168.8ms, max=3711.5ms + scene_load: mean=3.39s, total=3.39s, count=1, min=3386.8ms, max=3386.8ms + scene_env_create: mean=1.97s, total=1.97s, count=1, min=1969.1ms, max=1969.1ms + scene_compile: mean=1.28s, total=1.28s, count=1, min=1279.5ms, max=1279.5ms + compile_mujoco: mean=935.8ms, total=935.8ms, count=1, min=935.8ms, max=935.8ms + compile_xml_load: mean=258.8ms, total=258.8ms, count=1, min=258.8ms, max=258.8ms + scene_randomize: mean=1.3ms, total=95.0ms, count=72, min=0.9ms, max=2.9ms + scene_init: mean=93.7ms, total=93.7ms, count=1, min=93.7ms, max=93.7ms + compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + scene_asset_install: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms + asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + mj_forward_sync: mean=414.7us, total=29.9ms, count=72, min=0.4ms, max=0.7ms + compile_robot_add: mean=24.8ms, total=24.8ms, count=1, min=24.8ms, max=24.8ms + asset_install_objects: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=14.8us, total=0.8ms, count=52, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 11:05:53 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:05:53 INFO: Success count: 13, Total count: 15 [pipeline.py: 1491] +05/12 11:05:53 INFO: Success rate: 86.67% [pipeline.py: 1492] +05/12 11:06:09 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:06:28 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:06:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:06:28 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 11:06:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:06:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:06:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.71s (batch: 3.29s, save: 8.42s) [pipeline.py: 300] +05/12 11:06:40 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=2.15s: + episode_total: mean=16.78s, total=151.01s, count=9, min=201.1ms, max=140302.9ms + sensor_polling: mean=355.7ms, total=96.39s, count=271, min=309.1ms, max=674.3ms + save_trajectories: mean=8.42s, total=8.42s, count=1, min=8423.6ms, max=8423.6ms + physics_step: mean=21.4ms, total=5.81s, count=271, min=14.7ms, max=29.0ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3290.8ms, max=3290.8ms + task_specific_sample: mean=329.8ms, total=2.97s, count=9, min=198.4ms, max=461.6ms + task_sampling: mean=430.8ms, total=2.15s, count=5, min=418.8ms, max=464.3ms + task_sampling_failed: mean=209.6ms, total=838.5ms, count=4, min=201.0ms, max=215.5ms + scene_randomize: mean=1.1ms, total=10.3ms, count=9, min=0.9ms, max=2.6ms + mj_forward_sync: mean=386.8us, total=3.5ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:06:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:06:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:06:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:06:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:06:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:06:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:06:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164450m [env.py: 870] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:06:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32217679 -1.13861526 -0.16445017] yaw=-37.4deg [env.py: 1019] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:06:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.0ms, total=254.1ms [env.py: 1075] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.139, -0.164) [env.py: 1079] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.4 deg [env.py: 1082] +05/12 11:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:06:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:06:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:06:42 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 11:06:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 11:06:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:06:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:06:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:06:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.748s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:06:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.650[m] 74.425[deg] [grasp_sample.py: 539] +05/12 11:06:44 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:06:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:06:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:06:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:06:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:06:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:06:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:06:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137084m [env.py: 870] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:06:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41785315 -1.09277347 -0.13708438] yaw=-41.9deg [env.py: 1019] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.66725547 -0.94890916 -0.13708438] yaw=-74.2deg [env.py: 1019] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:06:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.7ms [env.py: 1075] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.093, -0.137) [env.py: 1079] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/12 11:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:06:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:06:45 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 11:06:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 11:06:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:06:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:06:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:06:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.219s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:06:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.684[m] 81.289[deg] [grasp_sample.py: 539] +05/12 11:06:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:06:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:06:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:06:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:07:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:07:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:07:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:08:34 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:08:54 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:08:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:08:54 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 11:09:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:09:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:09:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.00s (batch: 3.32s, save: 8.68s) [pipeline.py: 300] +05/12 11:09:06 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.92s: + episode_total: mean=72.04s, total=144.08s, count=2, min=2499.0ms, max=141581.8ms + sensor_polling: mean=340.3ms, total=93.58s, count=275, min=309.1ms, max=531.5ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8684.4ms, max=8684.4ms + physics_step: mean=20.3ms, total=5.57s, count=275, min=14.3ms, max=23.9ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3319.9ms, max=3319.9ms + task_sampling: mean=462.1ms, total=924.1ms, count=2, min=407.1ms, max=517.0ms + task_specific_sample: mean=458.7ms, total=917.5ms, count=2, min=404.2ms, max=513.2ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=461.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=12.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:09:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:09:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:09:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:09:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:09:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:09:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:09:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194710m [env.py: 870] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:09:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30229211 -1.0647329 -0.19471009] yaw=-37.8deg [env.py: 1019] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57289875 -0.81261641 -0.19471009] yaw=-60.5deg [env.py: 1019] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:09:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.1ms, total=172.2ms [env.py: 1075] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.065, -0.195) [env.py: 1079] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg [env.py: 1082] +05/12 11:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:09:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:09:08 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 11:09:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 11:09:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:09:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:09:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:09:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.180s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:09:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.695[m] 86.451[deg] [grasp_sample.py: 539] +05/12 11:09:11 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:09:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:09:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:09:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:09:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:09:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:09:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:09:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:09:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:09:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180902m [env.py: 870] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:09:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.8ms, total=213.9ms [env.py: 1105] +05/12 11:09:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:09:13 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:09:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:09:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:09:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:09:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:09:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:09:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:09:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166956m [env.py: 870] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:09:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34948613 -1.15716567 -0.16695567] yaw=-54.2deg [env.py: 1019] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:09:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.6ms [env.py: 1075] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -1.157, -0.167) [env.py: 1079] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 11:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:09:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:09:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:09:14 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 11:09:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 11:09:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:09:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:09:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:09:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.401s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:09:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.680[m] 88.190[deg] [grasp_sample.py: 539] +05/12 11:09:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:09:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:09:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:10:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:10:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:10:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:10:54 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:11:12 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:11:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:11:12 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 11:11:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:11:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:11:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 11.50s (batch: 3.15s, save: 8.34s) [pipeline.py: 300] +05/12 11:11:25 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.72s: + episode_total: mean=44.89s, total=134.67s, count=3, min=221.9ms, max=130637.0ms + sensor_polling: mean=329.3ms, total=88.24s, count=268, min=305.0ms, max=535.8ms + save_trajectories: mean=8.34s, total=8.34s, count=1, min=8343.8ms, max=8343.8ms + physics_step: mean=20.0ms, total=5.36s, count=268, min=14.0ms, max=23.4ms + save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3152.1ms, max=3152.1ms + task_specific_sample: mean=309.8ms, total=929.5ms, count=3, min=218.3ms, max=377.3ms + task_sampling: mean=358.5ms, total=717.0ms, count=2, min=335.9ms, max=381.0ms + task_sampling_failed: mean=221.9ms, total=221.9ms, count=1, min=221.9ms, max=221.9ms + scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.0ms, max=2.5ms + mj_forward_sync: mean=382.8us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:11:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:11:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:11:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:11:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102831m [env.py: 870] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:11:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52558078 -0.89414742 -0.10283115] yaw=-74.1deg [env.py: 1019] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:11:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.5ms, total=258.5ms [env.py: 1075] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -0.894, -0.103) [env.py: 1079] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.1 deg [env.py: 1082] +05/12 11:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:11:26 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 11:11:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 11:11:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:11:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.135s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:11:47 INFO: [Worker 0] Feasible grasp found 28 (originally 28): w/ 0.786[m] 95.996[deg] [grasp_sample.py: 539] +05/12 11:11:48 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:11:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:11:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:11:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:11:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126572m [env.py: 870] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:11:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.163565 -1.0510107 -0.12657212] yaw=-31.2deg [env.py: 1019] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:11:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=428.8ms, total=428.9ms [env.py: 1075] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.164, -1.051, -0.127) [env.py: 1079] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.2 deg [env.py: 1082] +05/12 11:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:11:49 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 11:11:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 11:11:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:11:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.105s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:11:52 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:11:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:11:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:11:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:11:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155979m [env.py: 870] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:11:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.3ms, total=188.4ms [env.py: 1105] +05/12 11:11:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:11:53 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:11:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:11:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:11:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:11:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157259m [env.py: 870] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:11:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.9ms, total=189.9ms [env.py: 1105] +05/12 11:11:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:11:54 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:11:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:11:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:11:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:11:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:11:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:11:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192320m [env.py: 870] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:11:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12091337 -1.05621219 -0.1923202 ] yaw=-29.6deg [env.py: 1019] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27259434 -1.21595743 -0.1923202 ] yaw=-26.4deg [env.py: 1019] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:11:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.4ms [env.py: 1075] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.121, -1.056, -0.192) [env.py: 1079] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.6 deg [env.py: 1082] +05/12 11:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:11:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:11:56 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 11:11:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:11:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:11:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:11:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:11:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.087s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:11:58 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:12:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:12:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:12:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:12:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:12:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:12:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:12:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:12:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:12:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195510m [env.py: 870] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:12:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.4ms, total=185.4ms [env.py: 1105] +05/12 11:12:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:12:00 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:12:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:12:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:12:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:12:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:12:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:12:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:12:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:12:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:12:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:12:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132331m [env.py: 870] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:12:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=186.1ms, total=186.1ms [env.py: 1105] +05/12 11:12:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:12:01 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:12:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:12:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:12:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:12:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:12:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:12:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:12:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160170m [env.py: 870] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:12:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52614773 -1.03987354 -0.16016982] yaw=-50.7deg [env.py: 1019] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27361902 -1.08025107 -0.16016982] yaw=-32.5deg [env.py: 1019] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:12:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.1ms, total=191.1ms [env.py: 1075] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -1.040, -0.160) [env.py: 1079] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 11:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:12:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:12:03 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 11:12:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 11:12:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:12:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:12:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:12:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.290s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:12:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.644[m] 90.553[deg] [grasp_sample.py: 539] +05/12 11:12:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:12:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:12:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:12:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:13:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:13:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:13:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:13:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:13:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 11:13:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:13:13 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.051[m] 0.700[deg] [grasp_sample.py: 539] +05/12 11:13:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:13:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:13:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:13:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:13:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:13:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:13:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 383 non-colliding grasps [grasp_sample.py: 465] +05/12 11:13:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:13:35 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.581[deg] [grasp_sample.py: 539] +05/12 11:13:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:13:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:13:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:13:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:13:55 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:14:17 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 11:14:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:14:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:14:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:14:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 11:14:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.93s (batch: 3.42s, save: 9.50s) [pipeline.py: 300] +05/12 11:14:30 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=1.93s: + episode_total: mean=21.99s, total=175.95s, count=8, min=192.9ms, max=147790.3ms + sensor_polling: mean=328.3ms, total=98.50s, count=300, min=292.8ms, max=509.2ms + save_trajectories: mean=9.50s, total=9.50s, count=1, min=9503.7ms, max=9503.7ms + physics_step: mean=20.4ms, total=6.12s, count=300, min=14.1ms, max=27.8ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3424.9ms, max=3424.9ms + task_specific_sample: mean=336.3ms, total=2.69s, count=8, min=189.9ms, max=644.5ms + task_sampling: mean=483.2ms, total=1.93s, count=4, min=391.6ms, max=647.2ms + task_sampling_failed: mean=195.1ms, total=780.4ms, count=4, min=192.8ms, max=197.4ms + scene_randomize: mean=1.2ms, total=9.2ms, count=8, min=1.0ms, max=2.2ms + mj_forward_sync: mean=398.0us, total=3.2ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=11.9us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:14:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:14:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:14:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:14:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:14:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:14:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152528m [env.py: 870] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:14:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56443514 -0.79437278 -0.15252808] yaw=-56.4deg [env.py: 1019] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28888316 -1.18661723 -0.15252808] yaw=-48.3deg [env.py: 1019] +05/12 11:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:14:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.0ms, total=258.0ms [env.py: 1075] +05/12 11:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.794, -0.153) [env.py: 1079] +05/12 11:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/12 11:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 11:14:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:14:32 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 11:14:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 11:14:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:14:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:14:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:14:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.523s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:14:42 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.806[m] 96.825[deg] [grasp_sample.py: 539] +05/12 11:14:43 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:14:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:14:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:14:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:14:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110975m [env.py: 870] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:14:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=329.6ms, total=329.6ms [env.py: 1105] +05/12 11:14:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:14:45 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:14:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:14:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:14:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:14:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:14:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:14:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138984m [env.py: 870] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:14:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20218171 -1.15636527 -0.13898444] yaw=-45.9deg [env.py: 1019] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.1ms, total=192.2ms [env.py: 1075] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.156, -0.139) [env.py: 1079] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/12 11:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:14:47 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 11:14:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 11:14:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:14:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:14:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:14:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.390s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:14:51 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.726[m] 82.091[deg] [grasp_sample.py: 539] +05/12 11:14:52 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:14:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:14:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:14:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:14:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:14:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:14:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:14:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:14:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:14:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195995m [env.py: 870] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:14:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:14:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=154.7ms, total=154.7ms [env.py: 1105] +05/12 11:14:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:14:53 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:14:55 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 11:14:55 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 11:14:55 INFO: [Worker 0] Worker 0 completed house 1: 18/20 successful episodes [pipeline.py: 1323] +05/12 11:14:55 INFO: [Worker 0] [PROFILE] House 1 complete: 18/20 successful, 20 episodes, total_time=5814.41s + House averages: + episode_total: mean=45.25s, total=3257.71s, count=72, min=162.3ms, max=183249.9ms + sensor_polling: mean=374.1ms, total=2113.79s, count=5650, min=292.8ms, max=756.0ms + save_trajectories: mean=9.13s, total=164.28s, count=18, min=8135.7ms, max=10307.7ms + physics_step: mean=22.6ms, total=127.61s, count=5650, min=13.7ms, max=96.9ms + save_batch_prep: mean=3.53s, total=63.52s, count=18, min=3152.1ms, max=4397.7ms + task_sampling: mean=656.0ms, total=30.18s, count=46, min=335.9ms, max=8093.3ms + task_specific_sample: mean=403.0ms, total=29.02s, count=72, min=159.4ms, max=1190.3ms + scene_load: mean=7.64s, total=7.64s, count=1, min=7643.2ms, max=7643.2ms + task_sampling_failed: mean=258.1ms, total=6.71s, count=26, min=162.3ms, max=603.2ms + scene_compile: mean=6.09s, total=6.09s, count=1, min=6091.4ms, max=6091.4ms + compile_mujoco: mean=5.64s, total=5.64s, count=1, min=5636.3ms, max=5636.3ms + scene_env_create: mean=1.41s, total=1.41s, count=1, min=1412.7ms, max=1412.7ms + compile_xml_load: mean=371.1ms, total=371.1ms, count=1, min=371.1ms, max=371.1ms + scene_randomize: mean=1.4ms, total=100.8ms, count=72, min=0.9ms, max=2.9ms + scene_init: mean=94.8ms, total=94.8ms, count=1, min=94.8ms, max=94.8ms + compile_aux_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + compile_aux_policy_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + mj_forward_sync: mean=416.4us, total=30.0ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=24.7ms, total=24.7ms, count=1, min=24.7ms, max=24.7ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=13.9us, total=0.6ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 11:14:55 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:14:55 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=5814.41s + Worker averages: + episode_total: mean=45.25s, total=3257.71s, count=72, min=162.3ms, max=183249.9ms + sensor_polling: mean=374.1ms, total=2113.79s, count=5650, min=292.8ms, max=756.0ms + save_trajectories: mean=9.13s, total=164.28s, count=18, min=8135.7ms, max=10307.7ms + physics_step: mean=22.6ms, total=127.61s, count=5650, min=13.7ms, max=96.9ms + save_batch_prep: mean=3.53s, total=63.52s, count=18, min=3152.1ms, max=4397.7ms + task_sampling: mean=656.0ms, total=30.18s, count=46, min=335.9ms, max=8093.3ms + task_specific_sample: mean=403.0ms, total=29.02s, count=72, min=159.4ms, max=1190.3ms + scene_load: mean=7.64s, total=7.64s, count=1, min=7643.2ms, max=7643.2ms + task_sampling_failed: mean=258.1ms, total=6.71s, count=26, min=162.3ms, max=603.2ms + scene_compile: mean=6.09s, total=6.09s, count=1, min=6091.4ms, max=6091.4ms + compile_mujoco: mean=5.64s, total=5.64s, count=1, min=5636.3ms, max=5636.3ms + scene_env_create: mean=1.41s, total=1.41s, count=1, min=1412.7ms, max=1412.7ms + compile_xml_load: mean=371.1ms, total=371.1ms, count=1, min=371.1ms, max=371.1ms + scene_randomize: mean=1.4ms, total=100.8ms, count=72, min=0.9ms, max=2.9ms + scene_init: mean=94.8ms, total=94.8ms, count=1, min=94.8ms, max=94.8ms + compile_aux_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + compile_aux_policy_objects: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms + scene_asset_install: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + asset_install_grasps: mean=30.6ms, total=30.6ms, count=1, min=30.6ms, max=30.6ms + mj_forward_sync: mean=416.4us, total=30.0ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=24.7ms, total=24.7ms, count=1, min=24.7ms, max=24.7ms + asset_install_objects: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=13.9us, total=0.6ms, count=46, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 11:14:57 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:14:57 INFO: Success count: 18, Total count: 20 [pipeline.py: 1491] +05/12 11:14:57 INFO: Success rate: 90.00% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111635.pkl b/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111635.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e14cc084bfb2b31369fc624657b506cc03e25013 --- /dev/null +++ b/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111635.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e562aeb3e377e0bcd9a43b8e9e3f52c4a0b0d5cd78abd305f5d6f3cc027b18f5 +size 8146 diff --git a/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111636.pkl b/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111636.pkl new file mode 100644 index 0000000000000000000000000000000000000000..e4706e51f1f97bceb11aee07a403572ecce24535 --- /dev/null +++ b/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111636.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:342e42499e17bf5984c73ecb2067e6c677539ba93659adbe53c88af2fc301695 +size 8146 diff --git a/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111639.pkl b/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111639.pkl new file mode 100644 index 0000000000000000000000000000000000000000..147ef11f1d6ff3c91ceb98c9251e8e7ee579b3cb --- /dev/null +++ b/3drawers/sim_chunks/chunk_017/experiment_config_20260512_111639.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fac7ae2e0b4c388a1e9a8cb612ec185002e9198eff395d217d5c7b61d8cf1e1b +size 8146 diff --git a/3drawers/sim_chunks/chunk_017/running_log.log b/3drawers/sim_chunks/chunk_017/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..56c7e020ad5dc29494030af01a933a1ccdba712c --- /dev/null +++ b/3drawers/sim_chunks/chunk_017/running_log.log @@ -0,0 +1,14358 @@ +05/12 11:16:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 11:16:35 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 11:16:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 11:16:35 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_017'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41704, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 11:16:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 11:16:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:16:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:16:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 11:16:35 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 11:16:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 11:16:35 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_017'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41703, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 11:16:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 11:16:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:16:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:16:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:16:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:16:36 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 11:16:36 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 11:16:36 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 11:16:36 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_017'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41702, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 11:16:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 11:16:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:16:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:16:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:16:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 11:16:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:16:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 11:16:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:16:38 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:16:38 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:16:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149978m [env.py: 870] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 11:16:38 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:16:38 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:16:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184263m [env.py: 870] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 11:16:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55072242 -1.02202726 -0.14997836] yaw=-53.8deg [env.py: 1019] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:16:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.9ms, retries=236.1ms, total=253.0ms [env.py: 1075] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -1.022, -0.150) [env.py: 1079] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=20.3ms, retries=224.9ms, total=245.2ms [env.py: 1105] +05/12 11:16:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:16:38 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:16:38 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:16:38 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:16:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128672m [env.py: 870] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=32.8ms, retries=235.0ms, total=267.7ms [env.py: 1105] +05/12 11:16:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:16:38 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:16:39 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 11:16:39 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 11:16:39 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 11:16:39 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_017'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41701, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 11:16:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 11:16:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 11:16:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 11:16:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:16:39 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 11:16:39 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 11:16:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:16:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147818m [env.py: 870] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.5ms, total=171.5ms [env.py: 1105] +05/12 11:16:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:16:39 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:16:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101743m [env.py: 870] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44715397 -0.88360056 -0.10174283] yaw=-66.7deg [env.py: 1019] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:16:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.0ms, total=250.1ms [env.py: 1075] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -0.884, -0.102) [env.py: 1079] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:16:40 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 11:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:16:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132104m [env.py: 870] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=201.6ms, total=201.6ms [env.py: 1105] +05/12 11:16:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:16:41 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:16:41 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 11:16:41 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 11:16:41 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 11:16:41 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 11:16:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100456m [env.py: 870] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:41 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3500498 -1.05646605 -0.10045641] yaw=-50.3deg [env.py: 1019] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:16:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.5ms, retries=229.2ms, total=245.6ms [env.py: 1075] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.056, -0.100) [env.py: 1079] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:16:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:16:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:16:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:16:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:16:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184488m [env.py: 870] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:16:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18551775 -0.95348504 -0.18448767] yaw=-54.2deg [env.py: 1019] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:16:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:16:42 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:16:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=190.1ms, total=190.2ms [env.py: 1075] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -0.953, -0.184) [env.py: 1079] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 11:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/12 11:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:16:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:16:42 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 11:17:08 INFO: [Worker 0] Warmed up parallel IK solver in 29.313s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:10 INFO: [Worker 0] Warmed up parallel IK solver in 29.627s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.795s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.639[m] 81.930[deg] [grasp_sample.py: 539] +05/12 11:17:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:17:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:17:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:17:12 INFO: [Worker 0] Warmed up parallel IK solver in 30.650s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:13 INFO: [Worker 0] Warmed up parallel IK solver in 30.691s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:17:14 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:17:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.831s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:15 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.715[m] 93.689[deg] [grasp_sample.py: 539] +05/12 11:17:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:17:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:17:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:17:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:17:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:17:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:17:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164715m [env.py: 870] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:17:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63889718 -0.84084349 -0.16471532] yaw=-64.4deg [env.py: 1019] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:17:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:17:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.4ms [env.py: 1075] +05/12 11:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.841, -0.165) [env.py: 1079] +05/12 11:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/12 11:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 11:17:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:17:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:17:16 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 11:17:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:17:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:17:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.501s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.729[m] 87.267[deg] [grasp_sample.py: 539] +05/12 11:17:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:17:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:17:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:17:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.680s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:25 INFO: [Worker 0] Feasible grasp found 397 (originally 397): w/ 0.764[m] 88.347[deg] [grasp_sample.py: 539] +05/12 11:17:27 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:17:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:17:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:17:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:17:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:17:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:17:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138552m [env.py: 870] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:17:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41910678 -0.98020256 -0.1385516 ] yaw=-59.9deg [env.py: 1019] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:17:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=241.0ms, total=241.1ms [env.py: 1075] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -0.980, -0.139) [env.py: 1079] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg [env.py: 1082] +05/12 11:17:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:17:28 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 11:17:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.005s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:36 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.685[m] 92.782[deg] [grasp_sample.py: 539] +05/12 11:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:17:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:17:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:17:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:17:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:17:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.220s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:45 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.501[m] 56.983[deg] [grasp_sample.py: 539] +05/12 11:17:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:17:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:17:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:17:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.381s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.572[m] 63.361[deg] [grasp_sample.py: 539] +05/12 11:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:47 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:17:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:17:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:17:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:17:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:17:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116481m [env.py: 870] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:17:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28753916 -1.07233645 -0.11648143] yaw=-40.7deg [env.py: 1019] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59140623 -0.91774589 -0.11648143] yaw=-64.8deg [env.py: 1019] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:17:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=351.5ms, total=351.6ms [env.py: 1075] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.072, -0.116) [env.py: 1079] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg [env.py: 1082] +05/12 11:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 11:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:17:49 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 11:17:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.200s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:17:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.712[m] 84.261[deg] [grasp_sample.py: 539] +05/12 11:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:52 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:17:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:17:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:17:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:17:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:17:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:17:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199852m [env.py: 870] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:17:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24637028 -0.90272701 -0.19985169] yaw=-57.6deg [env.py: 1019] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34410042 -0.82818224 -0.19985169] yaw=-58.6deg [env.py: 1019] +05/12 11:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:17:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=436.9ms, total=436.9ms [env.py: 1075] +05/12 11:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -0.903, -0.200) [env.py: 1079] +05/12 11:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 11:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 11:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:17:54 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 11:17:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.478s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:17:55 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:17:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:17:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:17:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:17:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:17:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126546m [env.py: 870] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:17:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:17:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:17:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:17:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60019369 -0.91825383 -0.12654618] yaw=-65.6deg [env.py: 1019] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59790758 -0.86951172 -0.12654618] yaw=-64.7deg [env.py: 1019] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:17:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.1ms, total=257.1ms [env.py: 1075] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.918, -0.127) [env.py: 1079] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg [env.py: 1082] +05/12 11:17:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:17:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:17:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:17:57 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 11:17:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:17:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:17:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:17:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.483s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.691[m] 88.976[deg] [grasp_sample.py: 539] +05/12 11:18:01 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:18:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:18:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:18:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:18:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193014m [env.py: 870] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:18:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.1ms, total=206.2ms [env.py: 1105] +05/12 11:18:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:18:02 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:18:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.401s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:02 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.501[m] 56.984[deg] [grasp_sample.py: 539] +05/12 11:18:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:18:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:18:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:18:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181740m [env.py: 870] +05/12 11:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:18:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38226955 -1.02352887 -0.18174002] yaw=-46.1deg [env.py: 1019] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=273.4ms, total=273.5ms [env.py: 1075] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -1.024, -0.182) [env.py: 1079] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 11:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 11:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:18:04 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 11:18:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:18:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:18:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:18:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.691[m] 86.989[deg] [grasp_sample.py: 539] +05/12 11:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:18:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:18:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:18:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:18:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:18:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.300s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:20 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.501[m] 56.984[deg] [grasp_sample.py: 539] +05/12 11:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:18:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:18:31 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:18:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:18:32 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.75s: + episode_total: mean=116.89s, total=116.89s, count=1, min=116891.1ms, max=116891.1ms + sensor_polling: mean=398.2ms, total=29.87s, count=75, min=327.1ms, max=683.0ms + task_sampling: mean=3.75s, total=3.75s, count=1, min=3754.9ms, max=3754.9ms + scene_load: mean=3.07s, total=3.07s, count=1, min=3070.5ms, max=3070.5ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1666.4ms, max=1666.4ms + physics_step: mean=21.2ms, total=1.59s, count=75, min=13.4ms, max=58.6ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.5ms, max=1247.5ms + task_specific_sample: mean=681.5ms, total=681.5ms, count=1, min=681.5ms, max=681.5ms + compile_mujoco: mean=639.7ms, total=639.7ms, count=1, min=639.7ms, max=639.7ms + compile_xml_load: mean=527.2ms, total=527.2ms, count=1, min=527.2ms, max=527.2ms + scene_init: mean=102.5ms, total=102.5ms, count=1, min=102.5ms, max=102.5ms + scene_asset_install: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms + compile_robot_add: mean=22.2ms, total=22.2ms, count=1, min=22.2ms, max=22.2ms + asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=403.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=52.7us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 11:18:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:18:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:18:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:18:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137700m [env.py: 870] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:18:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=518.0ms, total=518.0ms [env.py: 1105] +05/12 11:18:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:18:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:18:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:18:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156052m [env.py: 870] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22152221 -0.96304439 -0.15605235] yaw=-47.3deg [env.py: 1019] +05/12 11:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=548.5ms, total=548.6ms [env.py: 1075] +05/12 11:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -0.963, -0.156) [env.py: 1079] +05/12 11:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/12 11:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/12 11:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:18:36 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 11:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 11:18:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:18:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:18:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:18:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:18:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:18:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:18:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:18:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160952m [env.py: 870] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31192759 -0.97806045 -0.16095183] yaw=-43.9deg [env.py: 1019] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=392.0ms, total=392.1ms [env.py: 1075] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -0.978, -0.161) [env.py: 1079] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg [env.py: 1082] +05/12 11:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:18:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:18:39 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 11:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:18:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:18:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:18:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.332s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:18:44 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.759[m] 95.463[deg] [grasp_sample.py: 539] +05/12 11:18:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:18:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:18:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:18:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:18:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:19:02 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:19:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:19 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:19:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:19:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:19:23 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 11:19:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:19:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:19:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.51s (batch: 4.11s, save: 9.40s) [pipeline.py: 300] +05/12 11:19:37 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.11s: + episode_total: mean=178.67s, total=178.67s, count=1, min=178674.9ms, max=178674.9ms + sensor_polling: mean=350.3ms, total=97.39s, count=278, min=307.8ms, max=703.1ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9403.8ms, max=9403.8ms + physics_step: mean=22.8ms, total=6.34s, count=278, min=15.7ms, max=96.8ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4107.3ms, max=4107.3ms + task_sampling: mean=3.11s, total=3.11s, count=1, min=3112.3ms, max=3112.3ms + scene_load: mean=2.54s, total=2.54s, count=1, min=2540.7ms, max=2540.7ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1571.2ms, max=1571.2ms + scene_compile: mean=814.8ms, total=814.8ms, count=1, min=814.8ms, max=814.8ms + task_specific_sample: mean=569.1ms, total=569.1ms, count=1, min=569.1ms, max=569.1ms + compile_mujoco: mean=533.3ms, total=533.3ms, count=1, min=533.3ms, max=533.3ms + compile_xml_load: mean=215.0ms, total=215.0ms, count=1, min=215.0ms, max=215.0ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms + asset_install_objects: mean=19.7ms, total=19.7ms, count=1, min=19.7ms, max=19.7ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=930.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=395.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=27.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:19:37 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:19:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:19:37 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 11:19:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:19:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:19:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:19:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:19:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:19:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:19:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181141m [env.py: 870] +05/12 11:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:19:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=179.0ms, total=179.1ms [env.py: 1105] +05/12 11:19:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:19:39 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:19:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:19:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:19:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:19:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:19:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:19:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:19:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198862m [env.py: 870] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:19:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.7ms, total=216.7ms [env.py: 1105] +05/12 11:19:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:19:40 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:19:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:19:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:19:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:19:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:19:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:19:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:19:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195268m [env.py: 870] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:19:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.45580036 -1.06424721 -0.19526761] yaw=-55.0deg [env.py: 1019] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:19:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.9ms, total=202.0ms [env.py: 1075] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -1.064, -0.195) [env.py: 1079] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 11:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:19:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:19:42 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 11:19:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 11:19:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:19:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:19:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:19:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.701s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:19:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.641[m] 92.670[deg] [grasp_sample.py: 539] +05/12 11:19:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:19:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:19:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:19:47 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:19:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:19:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:19:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.40s (batch: 3.27s, save: 9.13s) [pipeline.py: 300] +05/12 11:19:50 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.97s: + episode_total: mean=64.13s, total=192.38s, count=3, min=2899.5ms, max=142448.7ms + sensor_polling: mean=337.9ms, total=91.90s, count=272, min=298.0ms, max=553.1ms + save_trajectories: mean=9.13s, total=9.13s, count=1, min=9130.0ms, max=9130.0ms + physics_step: mean=22.5ms, total=6.11s, count=272, min=15.6ms, max=64.3ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3266.0ms, max=3266.0ms + task_sampling_failed: mean=2.90s, total=2.90s, count=1, min=2899.5ms, max=2899.5ms + scene_load: mean=2.62s, total=2.62s, count=1, min=2619.0ms, max=2619.0ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1479.3ms, max=1479.3ms + task_specific_sample: mean=412.7ms, total=1.24s, count=3, min=276.1ms, max=504.1ms + task_sampling: mean=483.4ms, total=966.7ms, count=2, min=460.4ms, max=506.3ms + scene_compile: mean=935.5ms, total=935.5ms, count=1, min=935.5ms, max=935.5ms + compile_mujoco: mean=545.0ms, total=545.0ms, count=1, min=545.0ms, max=545.0ms + compile_xml_load: mean=323.6ms, total=323.6ms, count=1, min=323.6ms, max=323.6ms + scene_init: mean=112.0ms, total=112.0ms, count=1, min=112.0ms, max=112.0ms + scene_asset_install: mean=91.9ms, total=91.9ms, count=1, min=91.9ms, max=91.9ms + asset_install_grasps: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms + compile_aux_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + compile_aux_policy_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + asset_install_objects: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + asset_install_scene: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.5ms + mj_forward_sync: mean=506.0us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:19:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:19:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:19:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:19:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:19:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:19:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:19:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:19:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:19:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:19:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106364m [env.py: 870] +05/12 11:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:19:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49505568 -0.88095443 -0.10636398] yaw=-64.6deg [env.py: 1019] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1917341 -0.98753988 -0.10636398] yaw=-38.5deg [env.py: 1019] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48968484 -0.91027238 -0.10636398] yaw=-68.3deg [env.py: 1019] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:19:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=185.0ms, total=185.1ms [env.py: 1075] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -0.881, -0.106) [env.py: 1079] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/12 11:19:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/12 11:19:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:19:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:19:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:19:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:19:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:19:52 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 11:19:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 11:19:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:19:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:19:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:19:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.559s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:19:59 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.805[m] 95.646[deg] [grasp_sample.py: 539] +05/12 11:19:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:20:00 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:20:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121376m [env.py: 870] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=271.9ms, total=272.0ms [env.py: 1105] +05/12 11:20:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:20:01 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:20:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105050m [env.py: 870] +05/12 11:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15031228 -0.99729744 -0.1050503 ] yaw=-51.5deg [env.py: 1019] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35118109 -1.17862909 -0.1050503 ] yaw=-50.9deg [env.py: 1019] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2177192 -0.91953984 -0.1050503 ] yaw=-37.8deg [env.py: 1019] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.5ms, total=164.6ms [env.py: 1075] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.150, -0.997, -0.105) [env.py: 1079] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/12 11:20:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 11:20:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:20:03 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 11:20:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.429s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:20:04 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:20:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147107m [env.py: 870] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54332078 -0.7222067 -0.14710698] yaw=-72.4deg [env.py: 1019] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.4ms, total=186.4ms [env.py: 1075] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.543, -0.722, -0.147) [env.py: 1079] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.4 deg [env.py: 1082] +05/12 11:20:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:20:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:20:06 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 11:20:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:20:06 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 11:20:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.358s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:20:08 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:20:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121319m [env.py: 870] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45035713 -0.96822749 -0.12131915] yaw=-49.7deg [env.py: 1019] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.9ms [env.py: 1075] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -0.968, -0.121) [env.py: 1079] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 11:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:20:09 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 11:20:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.444s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:20:11 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.729[m] 93.726[deg] [grasp_sample.py: 539] +05/12 11:20:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:20:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:20:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:20:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:20:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:20:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.29s (batch: 3.37s, save: 8.91s) [pipeline.py: 300] +05/12 11:20:19 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=3.12s: + episode_total: mean=21.32s, total=213.24s, count=10, min=179.4ms, max=135474.7ms + sensor_polling: mean=337.7ms, total=108.41s, count=321, min=298.5ms, max=549.2ms + save_trajectories: mean=8.91s, total=8.91s, count=1, min=8911.5ms, max=8911.5ms + physics_step: mean=21.9ms, total=7.04s, count=321, min=14.8ms, max=35.3ms + task_specific_sample: mean=395.0ms, total=3.95s, count=10, min=176.5ms, max=654.0ms + task_sampling_failed: mean=896.9ms, total=3.59s, count=4, min=179.4ms, max=2983.6ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.1ms, max=3374.1ms + task_sampling: mean=519.5ms, total=3.12s, count=6, min=421.6ms, max=656.4ms + scene_load: mean=2.73s, total=2.73s, count=1, min=2729.1ms, max=2729.1ms + scene_env_create: mean=1.63s, total=1.63s, count=1, min=1632.8ms, max=1632.8ms + scene_compile: mean=955.8ms, total=955.8ms, count=1, min=955.8ms, max=955.8ms + compile_mujoco: mean=667.4ms, total=667.4ms, count=1, min=667.4ms, max=667.4ms + compile_xml_load: mean=213.8ms, total=213.8ms, count=1, min=213.8ms, max=213.8ms + scene_init: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + compile_aux_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms + compile_aux_policy_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms + scene_asset_install: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms + asset_install_grasps: mean=30.2ms, total=30.2ms, count=1, min=30.2ms, max=30.2ms + scene_randomize: mean=1.0ms, total=10.3ms, count=10, min=0.9ms, max=1.2ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + mj_forward_sync: mean=402.0us, total=4.0ms, count=10, min=0.4ms, max=0.4ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=18.8us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139324m [env.py: 870] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.2ms, total=219.2ms [env.py: 1105] +05/12 11:20:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:20:20 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:20:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113005m [env.py: 870] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=234.3ms, total=234.3ms [env.py: 1105] +05/12 11:20:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:20:22 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:20:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179430m [env.py: 870] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57778748 -0.72289873 -0.17943046] yaw=-77.6deg [env.py: 1019] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53799678 -0.75602809 -0.17943046] yaw=-61.5deg [env.py: 1019] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55961426 -0.9890479 -0.17943046] yaw=-57.4deg [env.py: 1019] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=227.7ms, total=227.7ms [env.py: 1075] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.723, -0.179) [env.py: 1079] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.6 deg [env.py: 1082] +05/12 11:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:20:24 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 11:20:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.348s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:20:25 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124037m [env.py: 870] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24111361 -0.9653909 -0.12403716] yaw=-53.8deg [env.py: 1019] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.3ms, total=221.3ms [env.py: 1075] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -0.965, -0.124) [env.py: 1079] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/12 11:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:20:27 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 11:20:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:20:29 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:20:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:20:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:20:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:20:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:20:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:20:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128274m [env.py: 870] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:20:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53941032 -0.91945269 -0.12827418] yaw=-62.4deg [env.py: 1019] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:20:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.3ms, total=230.3ms [env.py: 1075] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.539, -0.919, -0.128) [env.py: 1079] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/12 11:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:20:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:20:30 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 11:20:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:20:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:20:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:20:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.450s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:20:32 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.715[m] 92.677[deg] [grasp_sample.py: 539] +05/12 11:20:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:20:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:20:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:20:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:20:47 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:20:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:20:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:21:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:21:10 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 11:21:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:21:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:21:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:21:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.95s (batch: 3.46s, save: 9.49s) [pipeline.py: 300] +05/12 11:21:24 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.40s: + episode_total: mean=55.97s, total=167.91s, count=3, min=537.1ms, max=165091.7ms + sensor_polling: mean=393.4ms, total=113.68s, count=289, min=323.9ms, max=690.9ms + save_trajectories: mean=9.49s, total=9.49s, count=1, min=9489.1ms, max=9489.1ms + physics_step: mean=23.2ms, total=6.71s, count=289, min=19.5ms, max=37.2ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3459.9ms, max=3459.9ms + task_specific_sample: mean=641.2ms, total=1.92s, count=3, min=530.4ms, max=763.6ms + task_sampling: mean=699.1ms, total=1.40s, count=2, min=632.3ms, max=765.8ms + task_sampling_failed: mean=537.1ms, total=537.1ms, count=1, min=537.1ms, max=537.1ms + scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=1.0ms, max=1.3ms + mj_forward_sync: mean=428.9us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=20.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:21:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:21:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:21:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:21:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:21:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:21:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140688m [env.py: 870] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:21:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58167277 -0.74292515 -0.140688 ] yaw=-76.6deg [env.py: 1019] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:21:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=399.2ms, total=399.3ms [env.py: 1075] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.743, -0.141) [env.py: 1079] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.6 deg [env.py: 1082] +05/12 11:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:21:26 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 11:21:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 11:21:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:21:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:21:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:21:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.388s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:21:27 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:21:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:21:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:21:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:21:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110779m [env.py: 870] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:21:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49173048 -0.96706933 -0.11077924] yaw=-54.2deg [env.py: 1019] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5335823 -0.87726231 -0.11077924] yaw=-66.6deg [env.py: 1019] +05/12 11:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57609972 -1.0198988 -0.11077924] yaw=-57.4deg [env.py: 1019] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:21:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.2ms [env.py: 1075] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -0.967, -0.111) [env.py: 1079] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 11:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:21:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:21:29 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 11:21:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:21:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:21:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:21:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:21:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.432s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:21:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.712[m] 78.731[deg] [grasp_sample.py: 539] +05/12 11:21:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:21:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:21:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:21:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:21:37 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:21:57 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:21:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:21:57 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 11:21:58 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:22:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:22:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:22:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.83s (batch: 4.13s, save: 9.70s) [pipeline.py: 300] +05/12 11:22:12 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s: + episode_total: mean=50.15s, total=150.44s, count=3, min=190.2ms, max=150021.4ms + sensor_polling: mean=364.1ms, total=96.49s, count=265, min=299.2ms, max=591.1ms + save_trajectories: mean=9.70s, total=9.70s, count=1, min=9699.9ms, max=9699.9ms + physics_step: mean=24.3ms, total=6.45s, count=265, min=15.3ms, max=85.8ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.7ms, max=4130.7ms + task_specific_sample: mean=278.5ms, total=835.5ms, count=3, min=184.8ms, max=429.1ms + task_sampling: mean=431.7ms, total=431.7ms, count=1, min=431.7ms, max=431.7ms + task_sampling_failed: mean=207.5ms, total=414.9ms, count=2, min=190.2ms, max=224.8ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.0ms, max=2.1ms + mj_forward_sync: mean=380.9us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:22:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199419m [env.py: 870] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.4ms, total=190.4ms [env.py: 1105] +05/12 11:22:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:22:13 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:22:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170483m [env.py: 870] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=169.7ms, total=169.7ms [env.py: 1105] +05/12 11:22:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:22:15 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:22:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127182m [env.py: 870] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31119038 -1.21507523 -0.12718197] yaw=-42.8deg [env.py: 1019] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:22:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=436.5ms, total=436.5ms [env.py: 1075] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.215, -0.127) [env.py: 1079] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/12 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:22:17 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 11:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 11:22:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:22:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:19 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:22:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:22:19 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 11:22:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:19 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.671[m] 94.701[deg] [grasp_sample.py: 539] +05/12 11:22:21 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:22:21 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123946m [env.py: 870] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26895992 -1.05210598 -0.12394589] yaw=-53.5deg [env.py: 1019] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4941183 -0.81953484 -0.12394589] yaw=-61.5deg [env.py: 1019] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:22:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=204.6ms, total=204.6ms [env.py: 1075] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -1.052, -0.124) [env.py: 1079] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 11:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:22:22 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 11:22:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:22:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:22:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.173s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:31 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.750[m] 98.690[deg] [grasp_sample.py: 539] +05/12 11:22:32 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:22:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:22:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:22:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.94s (batch: 3.54s, save: 9.40s) [pipeline.py: 300] +05/12 11:22:33 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.52s: + episode_total: mean=31.25s, total=156.27s, count=5, min=280.2ms, max=143964.0ms + sensor_polling: mean=347.6ms, total=98.01s, count=282, min=306.9ms, max=595.2ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9397.7ms, max=9397.7ms + physics_step: mean=22.6ms, total=6.38s, count=282, min=19.8ms, max=52.8ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3540.7ms, max=3540.7ms + task_specific_sample: mean=356.3ms, total=1.78s, count=5, min=276.8ms, max=408.9ms + task_sampling: mean=378.7ms, total=1.51s, count=4, min=338.3ms, max=411.1ms + task_sampling_failed: mean=280.2ms, total=280.2ms, count=1, min=280.2ms, max=280.2ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=0.9ms, max=2.5ms + mj_forward_sync: mean=407.5us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=17.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:22:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167592m [env.py: 870] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.6ms, total=190.7ms [env.py: 1105] +05/12 11:22:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:22:33 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:22:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145593m [env.py: 870] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32353733 -1.23283754 -0.14559282] yaw=-42.0deg [env.py: 1019] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:22:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.1ms, total=351.2ms [env.py: 1075] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.233, -0.146) [env.py: 1079] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105053m [env.py: 870] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27217771 -1.15550553 -0.1050527 ] yaw=-46.4deg [env.py: 1019] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4790382 -1.04358126 -0.1050527 ] yaw=-66.4deg [env.py: 1019] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:22:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=282.8ms, total=282.8ms [env.py: 1075] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.156, -0.105) [env.py: 1079] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg [env.py: 1082] +05/12 11:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:22:35 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 11:22:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 11:22:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:22:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:22:35 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 11:22:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 11:22:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:22:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:22:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.691s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.707[m] 89.008[deg] [grasp_sample.py: 539] +05/12 11:22:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.905s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.662[m] 86.870[deg] [grasp_sample.py: 539] +05/12 11:22:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:22:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:22:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:22:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:22:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:22:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:22:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:22:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:22:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:22:41 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 11:22:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.710s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:42 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.117[m] 17.289[deg] [grasp_sample.py: 539] +05/12 11:22:43 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:22:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116802m [env.py: 870] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.62718192 -0.83815575 -0.11680207] yaw=-80.4deg [env.py: 1019] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:22:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.4ms, total=269.5ms [env.py: 1075] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.627, -0.838, -0.117) [env.py: 1079] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.4 deg [env.py: 1082] +05/12 11:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:22:44 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 11:22:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:22:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:22:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.433s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.772[m] 95.235[deg] [grasp_sample.py: 539] +05/12 11:22:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:22:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:22:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:22:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:22:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:22:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.77s (batch: 3.29s, save: 10.48s) [pipeline.py: 300] +05/12 11:22:56 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.33s: + episode_total: mean=30.03s, total=150.14s, count=5, min=229.7ms, max=145736.7ms + sensor_polling: mean=356.3ms, total=99.41s, count=279, min=304.1ms, max=723.7ms + save_trajectories: mean=10.48s, total=10.48s, count=1, min=10475.2ms, max=10475.2ms + physics_step: mean=22.9ms, total=6.38s, count=279, min=15.0ms, max=31.1ms + save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3289.8ms, max=3289.8ms + task_specific_sample: mean=356.6ms, total=1.78s, count=5, min=225.1ms, max=447.9ms + task_sampling: mean=441.8ms, total=1.33s, count=3, min=434.7ms, max=450.5ms + task_sampling_failed: mean=236.1ms, total=472.2ms, count=2, min=229.7ms, max=242.5ms + scene_randomize: mean=1.3ms, total=6.4ms, count=5, min=0.9ms, max=2.3ms + mj_forward_sync: mean=426.3us, total=2.1ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=21.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:22:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:22:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:22:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:22:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:22:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:22:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169675m [env.py: 870] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:22:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.65137122 -0.93106244 -0.16967477] yaw=-65.3deg [env.py: 1019] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:22:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=306.1ms, total=306.2ms [env.py: 1075] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.651, -0.931, -0.170) [env.py: 1079] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/12 11:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:22:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:22:58 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 11:22:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 11:22:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:22:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:22:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:22:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.747s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:22:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.657[m] 78.701[deg] [grasp_sample.py: 539] +05/12 11:23:00 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:23:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:23:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:23:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:23:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:23:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:23:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164840m [env.py: 870] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:23:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24351836 -1.07204915 -0.16484046] yaw=-52.9deg [env.py: 1019] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:23:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms [env.py: 1075] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.244, -1.072, -0.165) [env.py: 1079] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 11:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:23:01 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 11:23:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.680[m] 92.590[deg] [grasp_sample.py: 539] +05/12 11:23:04 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:23:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:23:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:23:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:23:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:23:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:23:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127204m [env.py: 870] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:23:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=246.4ms, total=246.4ms [env.py: 1105] +05/12 11:23:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:23:06 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:23:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:23:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:23:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:23:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:23:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:23:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196150m [env.py: 870] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:23:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42177574 -0.98817053 -0.19614988] yaw=-60.4deg [env.py: 1019] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41796602 -0.96271969 -0.19614988] yaw=-60.8deg [env.py: 1019] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:23:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.9ms, total=273.0ms [env.py: 1075] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.988, -0.196) [env.py: 1079] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg [env.py: 1082] +05/12 11:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:23:08 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 11:23:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:23:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.959s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.684[m] 75.712[deg] [grasp_sample.py: 539] +05/12 11:23:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:23:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:23:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:23:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.382s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.590[m] 68.533[deg] [grasp_sample.py: 539] +05/12 11:23:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:23:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:23:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:23:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:23:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.415s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.590[m] 68.534[deg] [grasp_sample.py: 539] +05/12 11:23:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:23:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:23:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:23:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:23:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:23:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.404s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:23:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.590[m] 68.534[deg] [grasp_sample.py: 539] +05/12 11:23:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:23:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:23:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:23:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:23:57 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:23:57 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:23:57 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=1.50s: + episode_total: mean=49.99s, total=149.97s, count=3, min=2192.4ms, max=74311.0ms + sensor_polling: mean=369.3ms, total=81.24s, count=220, min=315.7ms, max=567.6ms + physics_step: mean=20.9ms, total=4.60s, count=220, min=13.1ms, max=33.1ms + task_sampling: mean=499.5ms, total=1.50s, count=3, min=401.6ms, max=616.9ms + task_specific_sample: mean=496.6ms, total=1.49s, count=3, min=399.0ms, max=613.1ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.0ms, max=2.6ms + mj_forward_sync: mean=422.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=19.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:23:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:23:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:23:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:23:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:23:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:23:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174509m [env.py: 870] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:23:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31998674 -0.85708206 -0.17450941] yaw=-56.2deg [env.py: 1019] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:23:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=358.0ms, total=358.1ms [env.py: 1075] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -0.857, -0.175) [env.py: 1079] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 11:23:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:23:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:23:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:23:59 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 11:23:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:23:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:23:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:23:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:23:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:00 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:24:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:24:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 340 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.655s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:24:01 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:24:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.614s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:02 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.053[m] 8.005[deg] [grasp_sample.py: 539] +05/12 11:24:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:24:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:24:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181548m [env.py: 870] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=278.7ms, total=278.8ms [env.py: 1105] +05/12 11:24:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:03 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117971m [env.py: 870] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26413068 -1.06359952 -0.11797136] yaw=-52.4deg [env.py: 1019] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36880574 -1.14832026 -0.11797136] yaw=-46.6deg [env.py: 1019] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54553949 -0.76353942 -0.11797136] yaw=-68.9deg [env.py: 1019] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.5ms [env.py: 1075] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.064, -0.118) [env.py: 1079] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg [env.py: 1082] +05/12 11:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:24:04 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/12 11:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 11:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.101s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.756[m] 98.448[deg] [grasp_sample.py: 539] +05/12 11:24:08 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:24:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180293m [env.py: 870] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.0ms, total=208.1ms [env.py: 1105] +05/12 11:24:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:09 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:24:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:24:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195105m [env.py: 870] +05/12 11:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=189.3ms, total=189.4ms [env.py: 1105] +05/12 11:24:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:11 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:24:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184150m [env.py: 870] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58074669 -0.70112707 -0.18414968] yaw=-68.9deg [env.py: 1019] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:24:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms [env.py: 1075] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.581, -0.701, -0.184) [env.py: 1079] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg [env.py: 1082] +05/12 11:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:24:12 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 11:24:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 11:24:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.249s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:24:14 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:24:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:24:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148261m [env.py: 870] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=196.5ms, total=196.5ms [env.py: 1105] +05/12 11:24:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:15 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:24:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157263m [env.py: 870] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.2ms, total=185.3ms [env.py: 1105] +05/12 11:24:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:17 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:24:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113417m [env.py: 870] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3753729 -1.07856592 -0.11341692] yaw=-39.5deg [env.py: 1019] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:24:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=211.5ms, total=211.5ms [env.py: 1075] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.375, -1.079, -0.113) [env.py: 1079] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.5 deg [env.py: 1082] +05/12 11:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:24:18 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 11:24:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:24:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.384s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:21 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.704[m] 88.722[deg] [grasp_sample.py: 539] +05/12 11:24:22 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:24:22 INFO: [Worker 0] Object is not in grasp! 0.00105 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:24:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:24:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:22 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:24:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 372 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:24:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 334 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179026m [env.py: 870] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42903011 -0.92989777 -0.17902586] yaw=-51.6deg [env.py: 1019] +05/12 11:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:24:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.6ms, total=203.6ms [env.py: 1075] +05/12 11:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -0.930, -0.179) [env.py: 1079] +05/12 11:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 11:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 11:24:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:24:24 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 11:24:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:24:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.158s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:25 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.064[m] 10.832[deg] [grasp_sample.py: 539] +05/12 11:24:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:24:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:24:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.330s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:27 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.119[m] 5.647[deg] [grasp_sample.py: 539] +05/12 11:24:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.245s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:27 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.752[m] 84.286[deg] [grasp_sample.py: 539] +05/12 11:24:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:24:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:24:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:24:29 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:24:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141557m [env.py: 870] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31660469 -1.12468336 -0.14155654] yaw=-48.3deg [env.py: 1019] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48113379 -0.82725984 -0.14155654] yaw=-56.3deg [env.py: 1019] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:24:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=220.2ms, total=220.3ms [env.py: 1075] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.317, -1.125, -0.142) [env.py: 1079] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/12 11:24:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:24:30 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 11:24:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/12 11:24:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.365s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:33 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.723[m] 80.930[deg] [grasp_sample.py: 539] +05/12 11:24:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:24:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:24:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:24:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:24:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:44 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:24:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:24:44 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 11:24:44 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:24:44 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=1.63s: + episode_total: mean=24.15s, total=144.92s, count=6, min=177.8ms, max=129757.1ms + sensor_polling: mean=365.4ms, total=109.63s, count=300, min=301.6ms, max=683.4ms + physics_step: mean=24.2ms, total=7.25s, count=300, min=15.4ms, max=81.9ms + task_specific_sample: mean=364.3ms, total=2.19s, count=6, min=174.5ms, max=716.7ms + task_sampling: mean=542.4ms, total=1.63s, count=3, min=407.6ms, max=719.1ms + task_sampling_failed: mean=192.3ms, total=576.9ms, count=3, min=177.8ms, max=199.7ms + scene_randomize: mean=1.3ms, total=7.8ms, count=6, min=1.0ms, max=1.7ms + mj_forward_sync: mean=463.6us, total=2.8ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=17.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:24:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195827m [env.py: 870] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1105] +05/12 11:24:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:46 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178257m [env.py: 870] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=199.1ms, total=199.2ms [env.py: 1105] +05/12 11:24:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:47 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141526m [env.py: 870] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25082228 -1.05761001 -0.14152636] yaw=-40.1deg [env.py: 1019] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41723424 -0.81909754 -0.14152636] yaw=-66.2deg [env.py: 1019] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:24:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.1ms [env.py: 1075] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.058, -0.142) [env.py: 1079] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/12 11:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:24:49 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 11:24:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 11:24:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:24:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:24:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:24:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.692s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:24:51 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.767[m] 87.972[deg] [grasp_sample.py: 539] +05/12 11:24:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:24:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:24:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:24:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:24:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:24:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:24:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.40s (batch: 3.33s, save: 9.07s) [pipeline.py: 300] +05/12 11:24:57 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.80s: + episode_total: mean=142.85s, total=142.85s, count=1, min=142846.4ms, max=142846.4ms + sensor_polling: mean=358.5ms, total=96.43s, count=269, min=299.3ms, max=662.1ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9073.4ms, max=9073.4ms + physics_step: mean=23.5ms, total=6.31s, count=269, min=19.7ms, max=57.0ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3327.0ms, max=3327.0ms + task_sampling: mean=804.5ms, total=804.5ms, count=1, min=804.5ms, max=804.5ms + task_specific_sample: mean=801.0ms, total=801.0ms, count=1, min=801.0ms, max=801.0ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=453.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=41.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:24:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:24:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:24:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:24:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:24:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:24:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:24:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:24:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:24:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152826m [env.py: 870] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:24:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.2ms, total=231.3ms [env.py: 1105] +05/12 11:24:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:24:59 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:25:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:25:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:25:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:25:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:25:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:25:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:25:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151108m [env.py: 870] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:25:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46795308 -0.86072412 -0.15110776] yaw=-64.8deg [env.py: 1019] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38710001 -1.14446024 -0.15110776] yaw=-47.2deg [env.py: 1019] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:25:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.1ms, total=228.1ms [env.py: 1075] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.861, -0.151) [env.py: 1079] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 11:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:25:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:25:00 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 11:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 11:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:25:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:25:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:25:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.219s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:25:09 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.773[m] 91.845[deg] [grasp_sample.py: 539] +05/12 11:25:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:25:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:25:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:25:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:25:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:25:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:25:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:25:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:26:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:26:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:26:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:26:32 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:26:36 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:26:38 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:26:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:26:56 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:26:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:26:56 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/12 11:26:59 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:26:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:26:59 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 11:27:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:27:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:27:00 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 11:27:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:27:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:27:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.35s (batch: 3.66s, save: 9.68s) [pipeline.py: 300] +05/12 11:27:10 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s: + episode_total: mean=47.32s, total=141.97s, count=3, min=207.8ms, max=141535.1ms + sensor_polling: mean=320.0ms, total=92.49s, count=289, min=300.4ms, max=582.6ms + save_trajectories: mean=9.68s, total=9.68s, count=1, min=9684.7ms, max=9684.7ms + physics_step: mean=21.3ms, total=6.16s, count=289, min=14.6ms, max=26.4ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3664.8ms, max=3664.8ms + task_specific_sample: mean=280.8ms, total=842.3ms, count=3, min=204.1ms, max=419.6ms + task_sampling_failed: mean=215.5ms, total=431.0ms, count=2, min=207.8ms, max=223.2ms + task_sampling: mean=421.7ms, total=421.7ms, count=1, min=421.7ms, max=421.7ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=1.0ms, max=1.2ms + mj_forward_sync: mean=409.4us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:27:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:27:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:27:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.25s (batch: 3.14s, save: 9.11s) [pipeline.py: 300] +05/12 11:27:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:27:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:27:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:27:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:27:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:27:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198933m [env.py: 870] +05/12 11:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:27:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14278849 -1.11246797 -0.19893323] yaw=-47.5deg [env.py: 1019] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40910258 -1.09442622 -0.19893323] yaw=-45.6deg [env.py: 1019] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:27:12 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=1.92s: + episode_total: mean=49.83s, total=249.17s, count=5, min=254.4ms, max=161606.2ms + sensor_polling: mean=381.8ms, total=175.23s, count=459, min=298.3ms, max=791.9ms + physics_step: mean=23.4ms, total=10.74s, count=459, min=14.7ms, max=57.4ms + save_trajectories: mean=9.11s, total=9.11s, count=1, min=9106.3ms, max=9106.3ms + save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3143.0ms, max=3143.0ms + task_specific_sample: mean=432.4ms, total=2.16s, count=5, min=251.3ms, max=552.4ms + task_sampling: mean=480.7ms, total=1.92s, count=4, min=420.1ms, max=557.0ms + task_sampling_failed: mean=254.3ms, total=254.3ms, count=1, min=254.3ms, max=254.3ms + scene_randomize: mean=1.6ms, total=7.9ms, count=5, min=0.9ms, max=3.1ms + mj_forward_sync: mean=463.5us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=14.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:27:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=214.9ms [env.py: 1075] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.112, -0.199) [env.py: 1079] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 11:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 11:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:27:12 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 11:27:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 11:27:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:27:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:27:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:27:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:27:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:27:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.93s (batch: 3.40s, save: 9.53s) [pipeline.py: 300] +05/12 11:27:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:27:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:27:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:27:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:27:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:27:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123129m [env.py: 870] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:27:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1219136 -1.10808797 -0.12312941] yaw=-34.9deg [env.py: 1019] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:27:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.0ms, total=194.1ms [env.py: 1075] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.122, -1.108, -0.123) [env.py: 1079] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg [env.py: 1082] +05/12 11:27:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:13 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=2.21s: + episode_total: mean=18.31s, total=183.14s, count=10, min=193.1ms, max=169952.4ms + sensor_polling: mean=424.4ms, total=120.54s, count=284, min=332.3ms, max=730.8ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9530.5ms, max=9530.5ms + physics_step: mean=24.3ms, total=6.89s, count=284, min=17.1ms, max=32.6ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3398.6ms, max=3398.6ms + task_specific_sample: mean=328.3ms, total=3.28s, count=10, min=190.0ms, max=589.9ms + task_sampling: mean=442.4ms, total=2.21s, count=5, min=386.3ms, max=593.1ms + task_sampling_failed: mean=219.8ms, total=1.10s, count=5, min=193.1ms, max=288.5ms + scene_randomize: mean=1.1ms, total=11.3ms, count=10, min=1.0ms, max=1.6ms + mj_forward_sync: mean=420.1us, total=4.2ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:27:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:27:13 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 11:27:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 11:27:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:27:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:27:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:27:14 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:27:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:27:14 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 11:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:27:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:27:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196325m [env.py: 870] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55910447 -0.92860725 -0.1963253 ] yaw=-64.5deg [env.py: 1019] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:27:15 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.753[m] 79.079[deg] [grasp_sample.py: 539] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:27:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.6ms, total=234.7ms [env.py: 1075] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.929, -0.196) [env.py: 1079] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg [env.py: 1082] +05/12 11:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:27:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.530s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:27:15 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:27:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:27:15 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 11:27:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 11:27:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:27:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:27:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:27:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:27:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:27:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:27:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:27:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:27:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:27:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:27:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:27:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120279m [env.py: 870] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:27:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=162.7ms, total=162.7ms [env.py: 1105] +05/12 11:27:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:27:17 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:27:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.939s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:27:17 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.656[m] 88.838[deg] [grasp_sample.py: 539] +05/12 11:27:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:27:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:27:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:27:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:27:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:27:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:27:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:27:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:27:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112292m [env.py: 870] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:27:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36789468 -0.96411443 -0.11229153] yaw=-54.5deg [env.py: 1019] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:27:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=215.7ms, total=215.7ms [env.py: 1075] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -0.964, -0.112) [env.py: 1079] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 11:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:27:18 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 11:27:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:27:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:27:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:27:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:27:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:27:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:27:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:27:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.58s (batch: 3.84s, save: 9.74s) [pipeline.py: 300] +05/12 11:27:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.48s: + episode_total: mean=74.47s, total=148.95s, count=2, min=240.5ms, max=148706.3ms + sensor_polling: mean=330.9ms, total=95.97s, count=290, min=294.7ms, max=561.2ms + save_trajectories: mean=9.74s, total=9.74s, count=1, min=9739.7ms, max=9739.7ms + physics_step: mean=21.6ms, total=6.26s, count=290, min=16.2ms, max=35.2ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3836.7ms, max=3836.7ms + task_specific_sample: mean=358.3ms, total=716.5ms, count=2, min=236.8ms, max=479.7ms + task_sampling: mean=482.3ms, total=482.3ms, count=1, min=482.3ms, max=482.3ms + task_sampling_failed: mean=240.5ms, total=240.5ms, count=1, min=240.5ms, max=240.5ms + scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.0ms, max=1.7ms + mj_forward_sync: mean=399.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=29.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:27:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:27:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:27:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:27:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:27:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:27:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173358m [env.py: 870] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:27:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39224306 -1.11751294 -0.17335804] yaw=-44.4deg [env.py: 1019] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38690717 -0.98842268 -0.17335804] yaw=-57.4deg [env.py: 1019] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:27:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.5ms, total=189.6ms [env.py: 1075] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.118, -0.173) [env.py: 1079] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg [env.py: 1082] +05/12 11:27:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:27:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:27:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:27:30 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 11:27:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 11:27:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:27:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:27:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:27:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:27:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.593[m] 86.185[deg] [grasp_sample.py: 539] +05/12 11:27:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:27:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:27:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:27:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.647s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:27:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.704[m] 84.841[deg] [grasp_sample.py: 539] +05/12 11:27:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:27:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:27:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:28:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:28:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:28:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:28:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:28:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:28:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:28:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:28:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:28:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.826s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:28:47 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.269[m] 20.158[deg] [grasp_sample.py: 539] +05/12 11:28:48 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:28:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:28:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:28:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:28:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:28:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:28:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:28:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129482m [env.py: 870] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:28:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.8ms, total=197.9ms [env.py: 1105] +05/12 11:28:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:28:49 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:28:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:28:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:28:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:28:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110357m [env.py: 870] +05/12 11:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23580869 -1.03541502 -0.11035746] yaw=-48.2deg [env.py: 1019] +05/12 11:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5349421 -0.72073931 -0.11035746] yaw=-68.9deg [env.py: 1019] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:28:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.4ms, total=213.4ms [env.py: 1075] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.035, -0.110) [env.py: 1079] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg [env.py: 1082] +05/12 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:28:51 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 11:28:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:28:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:28:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:28:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:28:55 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:28:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.524s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:28:56 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:28:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:28:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:28:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:28:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:28:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:28:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168166m [env.py: 870] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:28:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=223.7ms, total=223.7ms [env.py: 1105] +05/12 11:28:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:28:57 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:28:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:28:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:28:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:28:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:28:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:28:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170998m [env.py: 870] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:28:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33518012 -1.14773476 -0.17099798] yaw=-38.2deg [env.py: 1019] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:28:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.3ms [env.py: 1075] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.148, -0.171) [env.py: 1079] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/12 11:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:28:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:28:59 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 11:28:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 11:28:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:28:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:28:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.909s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:03 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.651[m] 87.923[deg] [grasp_sample.py: 539] +05/12 11:29:04 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:29:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143171m [env.py: 870] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.2ms, total=245.3ms [env.py: 1105] +05/12 11:29:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:06 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:29:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130244m [env.py: 870] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=358.3ms, total=358.4ms [env.py: 1105] +05/12 11:29:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:08 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:29:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127782m [env.py: 870] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=221.7ms, total=221.8ms [env.py: 1105] +05/12 11:29:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:09 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192048m [env.py: 870] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57686642 -0.94578536 -0.19204816] yaw=-74.5deg [env.py: 1019] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.9ms [env.py: 1075] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.946, -0.192) [env.py: 1079] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.5 deg [env.py: 1082] +05/12 11:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 11:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:29:11 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 11:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:29:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.367s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.644[m] 90.138[deg] [grasp_sample.py: 539] +05/12 11:29:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:29:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:29:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:29:15 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:29:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:29:15 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 11:29:21 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:29:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:29:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:29:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.68s (batch: 3.32s, save: 9.36s) [pipeline.py: 300] +05/12 11:29:29 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.45s: + episode_total: mean=137.27s, total=137.27s, count=1, min=137273.8ms, max=137273.8ms + sensor_polling: mean=324.3ms, total=91.45s, count=282, min=299.2ms, max=558.1ms + save_trajectories: mean=9.36s, total=9.36s, count=1, min=9360.8ms, max=9360.8ms + physics_step: mean=21.2ms, total=5.99s, count=282, min=17.0ms, max=29.4ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3319.9ms, max=3319.9ms + task_sampling: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms + task_specific_sample: mean=447.9ms, total=447.9ms, count=1, min=447.9ms, max=447.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=425.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:29:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:29:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:29:29 INFO: [Worker 0] Preparing episode data: 254 timesteps [save_utils.py: 278] +05/12 11:29:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183956m [env.py: 870] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.6ms, total=214.7ms [env.py: 1105] +05/12 11:29:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:30 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:29:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163326m [env.py: 870] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32251135 -0.97011016 -0.16332568] yaw=-41.9deg [env.py: 1019] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=277.2ms, total=277.2ms [env.py: 1075] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -0.970, -0.163) [env.py: 1079] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg [env.py: 1082] +05/12 11:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:29:32 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 11:29:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.760s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:36 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.738[m] 87.569[deg] [grasp_sample.py: 539] +05/12 11:29:37 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:29:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136037m [env.py: 870] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34553554 -1.17688575 -0.1360373 ] yaw=-40.6deg [env.py: 1019] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms [env.py: 1075] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -1.177, -0.136) [env.py: 1079] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/12 11:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:29:39 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 11:29:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:29:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:29:40 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/12 11:29:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:29:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:29:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 11.90s (batch: 3.53s, save: 8.38s) [pipeline.py: 300] +05/12 11:29:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.039s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:41 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.673[m] 80.481[deg] [grasp_sample.py: 539] +05/12 11:29:42 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s: + episode_total: mean=131.97s, total=131.97s, count=1, min=131974.0ms, max=131974.0ms + sensor_polling: mean=362.0ms, total=91.58s, count=253, min=302.5ms, max=616.6ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8376.9ms, max=8376.9ms + physics_step: mean=23.1ms, total=5.84s, count=253, min=14.9ms, max=31.7ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3525.1ms, max=3525.1ms + task_sampling: mean=439.6ms, total=439.6ms, count=1, min=439.6ms, max=439.6ms + task_specific_sample: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:29:43 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:29:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121106m [env.py: 870] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=246.6ms, total=246.6ms [env.py: 1105] +05/12 11:29:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:43 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:29:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172615m [env.py: 870] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128947m [env.py: 870] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50141671 -1.01294873 -0.17261464] yaw=-52.3deg [env.py: 1019] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40067687 -0.91531896 -0.17261464] yaw=-57.5deg [env.py: 1019] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:29:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=381.2ms, total=381.3ms [env.py: 1105] +05/12 11:29:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:45 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=757.3ms, total=757.3ms [env.py: 1075] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -1.013, -0.173) [env.py: 1079] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 11:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:29:45 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 11:29:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:46 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.615[m] 87.001[deg] [grasp_sample.py: 539] +05/12 11:29:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:29:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102553m [env.py: 870] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45981285 -0.76335864 -0.10255293] yaw=-62.4deg [env.py: 1019] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:29:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.4ms, total=198.4ms [env.py: 1075] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.763, -0.103) [env.py: 1079] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg [env.py: 1082] +05/12 11:29:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:29:47 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 11:29:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:29:48 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122736m [env.py: 870] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.2ms [env.py: 1105] +05/12 11:29:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:50 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:29:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177144m [env.py: 870] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29595171 -1.13326501 -0.17714433] yaw=-44.1deg [env.py: 1019] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.5ms [env.py: 1075] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.133, -0.177) [env.py: 1079] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/12 11:29:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:29:51 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 11:29:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.431s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:29:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.676[m] 81.779[deg] [grasp_sample.py: 539] +05/12 11:29:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:29:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:29:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.75s (batch: 3.38s, save: 9.37s) [pipeline.py: 300] +05/12 11:29:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:29:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:29:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:29:54 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.48s: + episode_total: mean=158.89s, total=158.89s, count=1, min=158894.9ms, max=158894.9ms + sensor_polling: mean=416.6ms, total=111.24s, count=267, min=321.6ms, max=649.8ms + save_trajectories: mean=9.37s, total=9.37s, count=1, min=9368.9ms, max=9368.9ms + physics_step: mean=25.1ms, total=6.69s, count=267, min=15.0ms, max=96.7ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3384.8ms, max=3384.8ms + task_sampling: mean=479.6ms, total=479.6ms, count=1, min=479.6ms, max=479.6ms + task_specific_sample: mean=476.1ms, total=476.1ms, count=1, min=476.1ms, max=476.1ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=408.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:29:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:29:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151059m [env.py: 870] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57274039 -0.75439832 -0.15105929] yaw=-75.0deg [env.py: 1019] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:29:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=189.3ms, total=189.4ms [env.py: 1075] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.754, -0.151) [env.py: 1079] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg [env.py: 1082] +05/12 11:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:29:55 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 11:29:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 11:29:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:29:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:29:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:29:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.388s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:29:57 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:29:57 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 11:29:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:29:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:29:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:29:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:29:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:29:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:29:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159525m [env.py: 870] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:29:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:29:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.2ms, total=220.3ms [env.py: 1105] +05/12 11:29:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:29:58 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:30:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:30:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:30:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:30:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:30:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:30:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164121m [env.py: 870] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:30:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53023866 -0.74283173 -0.16412078] yaw=-58.2deg [env.py: 1019] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60796211 -0.79690983 -0.16412078] yaw=-70.6deg [env.py: 1019] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:30:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms [env.py: 1075] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.743, -0.164) [env.py: 1079] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 11:30:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:30:00 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 11:30:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 11:30:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:30:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:30:02 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:30:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:30:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:30:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:30:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144004m [env.py: 870] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36097802 -0.83691949 -0.14400391] yaw=-48.7deg [env.py: 1019] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29873212 -1.01083098 -0.14400391] yaw=-40.2deg [env.py: 1019] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms [env.py: 1075] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.837, -0.144) [env.py: 1079] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg [env.py: 1082] +05/12 11:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:30:03 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 11:30:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:30:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:30:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.608s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:30:05 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:30:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:30:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:30:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:30:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:30:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:30:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199180m [env.py: 870] +05/12 11:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:30:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39128812 -1.02829015 -0.19917953] yaw=-46.1deg [env.py: 1019] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57714185 -0.75930257 -0.19917953] yaw=-69.7deg [env.py: 1019] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=347.4ms, total=347.5ms [env.py: 1075] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -1.028, -0.199) [env.py: 1079] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/12 11:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/12 11:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:30:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:30:07 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 11:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:30:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:30:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.859s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:30:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.669[m] 83.742[deg] [grasp_sample.py: 539] +05/12 11:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:30:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:30:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:30:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:30:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:30:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:30:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:30:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.453[m] 60.165[deg] [grasp_sample.py: 539] +05/12 11:30:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:30:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:30:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:25 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:30:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:30:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 381 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.911s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:30:27 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.069[m] 5.381[deg] [grasp_sample.py: 539] +05/12 11:30:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:30:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:30:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:30:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:30:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:30:51 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:30:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:30:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:30:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:30:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 11:30:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:30:54 INFO: [Worker 0] Feasible grasp found 28 (originally 28): w/ 0.066[m] 2.026[deg] [grasp_sample.py: 539] +05/12 11:30:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:30:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:30:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:31:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:31:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.151s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:13 INFO: [Worker 0] Feasible grasp found 74 (originally 74): w/ 0.289[m] 20.100[deg] [grasp_sample.py: 539] +05/12 11:31:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:31:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:31:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:31:15 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:31:15 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/12 11:31:15 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=2.12s: + episode_total: mean=20.79s, total=228.74s, count=11, min=170.7ms, max=124488.9ms + sensor_polling: mean=348.4ms, total=135.17s, count=388, min=292.0ms, max=747.5ms + physics_step: mean=22.3ms, total=8.66s, count=388, min=16.7ms, max=79.5ms + task_specific_sample: mean=322.6ms, total=3.55s, count=11, min=167.4ms, max=436.7ms + task_sampling: mean=424.4ms, total=2.12s, count=5, min=411.3ms, max=440.4ms + task_sampling_failed: mean=243.4ms, total=1.46s, count=6, min=170.7ms, max=366.1ms + scene_randomize: mean=1.3ms, total=14.1ms, count=11, min=1.0ms, max=2.4ms + mj_forward_sync: mean=417.2us, total=4.6ms, count=11, min=0.4ms, max=0.5ms + policy_setup: mean=15.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:31:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:31:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:31:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:31:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:31:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:31:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:31:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176937m [env.py: 870] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:31:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25419161 -1.08463238 -0.17693662] yaw=-36.6deg [env.py: 1019] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:31:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=376.1ms, total=376.1ms [env.py: 1075] +05/12 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -1.085, -0.177) [env.py: 1079] +05/12 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.6 deg [env.py: 1082] +05/12 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:31:17 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 11:31:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:21 INFO: [Worker 0] Object is not in grasp! 0.00175 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:31:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:31:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 368 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:23 INFO: [Worker 0] Feasible grasp found 231 (originally 231): w/ 0.144[m] 2.418[deg] [grasp_sample.py: 539] +05/12 11:31:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:31:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:31:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.594s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:25 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.738[m] 90.631[deg] [grasp_sample.py: 539] +05/12 11:31:26 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:31:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:31:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:31:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:31:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:31:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:31:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:31:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164016m [env.py: 870] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:31:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=330.6ms, total=330.7ms [env.py: 1105] +05/12 11:31:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:31:28 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:31:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:31:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:31:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:31:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:31:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:31:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168433m [env.py: 870] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:31:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33870986 -1.14366208 -0.16843314] yaw=-50.6deg [env.py: 1019] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=349.9ms, total=349.9ms [env.py: 1075] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -1.144, -0.168) [env.py: 1079] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg [env.py: 1082] +05/12 11:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:31:30 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 11:31:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 11:31:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.935s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.668[m] 74.282[deg] [grasp_sample.py: 539] +05/12 11:31:32 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:31:32 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:31:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:31:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:31:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:31:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:31:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124032m [env.py: 870] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:31:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49878109 -1.03297363 -0.12403192] yaw=-60.7deg [env.py: 1019] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:31:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1075] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.499, -1.033, -0.124) [env.py: 1079] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg [env.py: 1082] +05/12 11:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:31:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:31:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:31:34 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 11:31:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 11:31:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.642[m] 85.784[deg] [grasp_sample.py: 539] +05/12 11:31:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:31:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:31:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:31:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:31:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.558s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:31:43 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.153[m] 15.830[deg] [grasp_sample.py: 539] +05/12 11:31:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:31:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:31:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:31:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:31:52 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 11:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:31:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:31:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:31:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:31:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.019s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:03 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.534[m] 60.754[deg] [grasp_sample.py: 539] +05/12 11:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:03 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:32:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:32:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:32:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.45s (batch: 3.21s, save: 9.24s) [pipeline.py: 300] +05/12 11:32:05 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.86s: + episode_total: mean=27.42s, total=137.11s, count=5, min=204.5ms, max=134244.5ms + sensor_polling: mean=333.5ms, total=90.37s, count=271, min=298.3ms, max=583.7ms + save_trajectories: mean=9.24s, total=9.24s, count=1, min=9235.2ms, max=9235.2ms + physics_step: mean=21.9ms, total=5.94s, count=271, min=14.7ms, max=82.5ms + save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3214.3ms, max=3214.3ms + task_specific_sample: mean=339.1ms, total=1.70s, count=5, min=199.9ms, max=446.4ms + task_sampling: mean=429.6ms, total=859.3ms, count=2, min=411.0ms, max=448.3ms + task_sampling_failed: mean=284.3ms, total=853.0ms, count=3, min=204.5ms, max=392.1ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=2.1ms + mj_forward_sync: mean=424.8us, total=2.1ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:32:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175061m [env.py: 870] +05/12 11:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33098598 -1.09765562 -0.17506119] yaw=-42.6deg [env.py: 1019] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59898768 -0.74341493 -0.17506119] yaw=-76.4deg [env.py: 1019] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:32:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.8ms, total=185.9ms [env.py: 1075] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -1.098, -0.175) [env.py: 1079] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.6 deg [env.py: 1082] +05/12 11:32:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 11:32:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:32:07 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 11:32:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 11:32:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.189s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.677[m] 83.185[deg] [grasp_sample.py: 539] +05/12 11:32:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:32:10 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:32:10 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:32:10 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=1.96s: + episode_total: mean=39.01s, total=156.05s, count=4, min=225.4ms, max=146102.1ms + sensor_polling: mean=367.7ms, total=89.72s, count=244, min=299.2ms, max=657.7ms + physics_step: mean=23.3ms, total=5.69s, count=244, min=14.9ms, max=44.6ms + task_specific_sample: mean=543.8ms, total=2.18s, count=4, min=220.4ms, max=982.6ms + task_sampling: mean=654.0ms, total=1.96s, count=3, min=400.5ms, max=984.9ms + task_sampling_failed: mean=225.4ms, total=225.4ms, count=1, min=225.4ms, max=225.4ms + scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=1.0ms, max=1.8ms + mj_forward_sync: mean=428.6us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:32:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:32:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:32:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171527m [env.py: 870] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:32:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=209.0ms, total=209.0ms [env.py: 1105] +05/12 11:32:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:32:12 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:32:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:32:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173932m [env.py: 870] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.7ms, total=218.8ms [env.py: 1105] +05/12 11:32:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:32:13 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:32:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:32:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:32:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:32:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:32:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172100m [env.py: 870] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:32:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.65031277 -0.98466282 -0.17210021] yaw=-73.4deg [env.py: 1019] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:32:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.3ms, total=217.4ms [env.py: 1075] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.650, -0.985, -0.172) [env.py: 1079] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.4 deg [env.py: 1082] +05/12 11:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:32:15 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 11:32:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/12 11:32:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.658s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.583[m] 86.694[deg] [grasp_sample.py: 539] +05/12 11:32:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.511s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:18 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.534[m] 60.754[deg] [grasp_sample.py: 539] +05/12 11:32:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:32:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:32:23 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 11:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:32:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.015s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:33 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.534[m] 60.754[deg] [grasp_sample.py: 539] +05/12 11:32:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:32:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:32:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.14s (batch: 3.38s, save: 8.75s) [pipeline.py: 300] +05/12 11:32:36 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=1.75s: + episode_total: mean=31.19s, total=155.93s, count=5, min=228.1ms, max=149596.5ms + sensor_polling: mean=396.4ms, total=106.22s, count=268, min=338.5ms, max=654.2ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8753.0ms, max=8753.0ms + physics_step: mean=23.5ms, total=6.30s, count=268, min=14.8ms, max=132.3ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3384.8ms, max=3384.8ms + task_specific_sample: mean=393.7ms, total=1.97s, count=5, min=225.1ms, max=548.3ms + task_sampling: mean=438.4ms, total=1.75s, count=4, min=362.1ms, max=550.6ms + task_sampling_failed: mean=228.1ms, total=228.1ms, count=1, min=228.1ms, max=228.1ms + scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=1.0ms, max=2.6ms + mj_forward_sync: mean=428.3us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:32:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:32:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:32:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199255m [env.py: 870] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:32:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37005286 -1.02868736 -0.19925454] yaw=-54.8deg [env.py: 1019] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:32:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.8ms [env.py: 1075] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.029, -0.199) [env.py: 1079] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/12 11:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:32:38 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 11:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 11:32:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:32:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:32:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.683[m] 89.612[deg] [grasp_sample.py: 539] +05/12 11:32:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.935s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:42 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.468[m] 65.657[deg] [grasp_sample.py: 539] +05/12 11:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:32:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:45 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:32:45 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=1.60s: + episode_total: mean=21.28s, total=85.13s, count=4, min=346.6ms, max=72230.6ms + sensor_polling: mean=335.1ms, total=24.12s, count=72, min=299.1ms, max=633.6ms + task_specific_sample: mean=484.2ms, total=1.94s, count=4, min=340.1ms, max=617.2ms + task_sampling: mean=534.5ms, total=1.60s, count=3, min=410.4ms, max=619.4ms + physics_step: mean=18.5ms, total=1.33s, count=72, min=13.1ms, max=31.1ms + task_sampling_failed: mean=346.5ms, total=346.5ms, count=1, min=346.5ms, max=346.5ms + scene_randomize: mean=1.2ms, total=4.8ms, count=4, min=1.0ms, max=1.7ms + mj_forward_sync: mean=416.2us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144192m [env.py: 870] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49749246 -0.88085876 -0.1441921 ] yaw=-53.4deg [env.py: 1019] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54951724 -1.03580031 -0.1441921 ] yaw=-52.0deg [env.py: 1019] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.2ms, total=211.3ms [env.py: 1075] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.881, -0.144) [env.py: 1079] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/12 11:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:32:47 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 11:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 11:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.708s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:51 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.752[m] 96.384[deg] [grasp_sample.py: 539] +05/12 11:32:52 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:32:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:32:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:32:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:32:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:32:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:32:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130301m [env.py: 870] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:32:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42558374 -1.00762991 -0.13030088] yaw=-48.8deg [env.py: 1019] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:32:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:32:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:32:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:32:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.6ms [env.py: 1075] +05/12 11:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -1.008, -0.130) [env.py: 1079] +05/12 11:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg [env.py: 1082] +05/12 11:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 11:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:32:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:32:54 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 11:32:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 11:32:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:32:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:32:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:32:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.363s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.706[m] 89.905[deg] [grasp_sample.py: 539] +05/12 11:32:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:32:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.048s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:32:57 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.467[m] 65.661[deg] [grasp_sample.py: 539] +05/12 11:32:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:32:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:32:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:33:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:33:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:33:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:33:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:33:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.819s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:33:11 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.467[m] 65.661[deg] [grasp_sample.py: 539] +05/12 11:33:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:33:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:33:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:33:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:33:22 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:33:22 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=False episode_total=0.50s: + episode_total: mean=22.64s, total=67.91s, count=3, min=216.9ms, max=67463.3ms + sensor_polling: mean=328.8ms, total=22.03s, count=67, min=301.0ms, max=513.9ms + physics_step: mean=18.5ms, total=1.24s, count=67, min=13.5ms, max=27.7ms + task_specific_sample: mean=313.0ms, total=939.1ms, count=3, min=213.8ms, max=501.6ms + task_sampling: mean=504.6ms, total=504.6ms, count=1, min=504.6ms, max=504.6ms + task_sampling_failed: mean=222.4ms, total=444.7ms, count=2, min=216.8ms, max=227.9ms + scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=1.1ms, max=1.4ms + mj_forward_sync: mean=496.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:33:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:33:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:33:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:33:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:33:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:33:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160812m [env.py: 870] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:33:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48077907 -0.74588999 -0.16081185] yaw=-65.4deg [env.py: 1019] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:33:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.9ms, total=228.9ms [env.py: 1075] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.481, -0.746, -0.161) [env.py: 1079] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 11:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:33:24 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 11:33:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 11:33:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:33:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:33:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:33:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.509s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:33:26 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:33:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:33:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:33:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:33:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:33:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:33:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138363m [env.py: 870] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:33:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41368639 -1.07128938 -0.13836256] yaw=-60.2deg [env.py: 1019] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:33:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=314.5ms, total=314.5ms [env.py: 1075] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -1.071, -0.138) [env.py: 1079] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg [env.py: 1082] +05/12 11:33:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:33:27 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 11:33:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:33:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:33:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:33:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:33:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:33:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.671[m] 92.764[deg] [grasp_sample.py: 539] +05/12 11:33:30 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:33:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:33:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:33:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:33:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:33:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:33:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184531m [env.py: 870] +05/12 11:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:33:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:33:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5525501 -0.85021501 -0.18453082] yaw=-59.2deg [env.py: 1019] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2512922 -0.99693686 -0.18453082] yaw=-46.8deg [env.py: 1019] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:33:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.1ms, total=217.1ms [env.py: 1075] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.850, -0.185) [env.py: 1079] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/12 11:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/12 11:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:33:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:33:32 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 11:33:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:33:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:33:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:33:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:33:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.400s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:33:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.705[m] 90.966[deg] [grasp_sample.py: 539] +05/12 11:33:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:33:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:33:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:33:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:33:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:33:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:33:49 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:33:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:33:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:34:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:34:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:34:10 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:34:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:34:10 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 11:34:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:34:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:34:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.64s (batch: 3.90s, save: 9.74s) [pipeline.py: 300] +05/12 11:34:24 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.40s: + episode_total: mean=137.51s, total=137.51s, count=1, min=137508.6ms, max=137508.6ms + sensor_polling: mean=341.2ms, total=92.12s, count=270, min=298.4ms, max=595.2ms + save_trajectories: mean=9.74s, total=9.74s, count=1, min=9739.4ms, max=9739.4ms + physics_step: mean=22.1ms, total=5.97s, count=270, min=15.0ms, max=29.8ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3904.4ms, max=3904.4ms + task_sampling: mean=397.8ms, total=397.8ms, count=1, min=397.8ms, max=397.8ms + task_specific_sample: mean=394.5ms, total=394.5ms, count=1, min=394.5ms, max=394.5ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=418.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110154m [env.py: 870] +05/12 11:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=355.0ms, total=355.1ms [env.py: 1105] +05/12 11:34:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:34:26 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:34:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171679m [env.py: 870] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24169654 -1.09874157 -0.17167874] yaw=-42.2deg [env.py: 1019] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:34:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=486.2ms, total=486.2ms [env.py: 1075] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -1.099, -0.172) [env.py: 1079] +05/12 11:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg [env.py: 1082] +05/12 11:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/12 11:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:34:28 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 11:34:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 11:34:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:34:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:34:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:34:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:34:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:34:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:34:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:34:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:34:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.277s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:34:36 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.703[m] 78.940[deg] [grasp_sample.py: 539] +05/12 11:34:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.559s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:34:38 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.146[m] 4.505[deg] [grasp_sample.py: 539] +05/12 11:34:38 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:34:39 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:34:39 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 11:34:39 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:34:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117043m [env.py: 870] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=464.0ms, total=464.1ms [env.py: 1105] +05/12 11:34:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:34:40 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:34:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161439m [env.py: 870] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.9ms, total=194.9ms [env.py: 1105] +05/12 11:34:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:34:40 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161898m [env.py: 870] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=531.9ms, total=531.9ms [env.py: 1105] +05/12 11:34:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:34:41 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:34:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110524m [env.py: 870] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65800804 -0.93718624 -0.11052422] yaw=-74.1deg [env.py: 1019] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3014776 -0.92000086 -0.11052422] yaw=-55.6deg [env.py: 1019] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:34:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=214.3ms, total=214.4ms [env.py: 1075] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.658, -0.937, -0.111) [env.py: 1079] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.1 deg [env.py: 1082] +05/12 11:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:34:42 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 11:34:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 11:34:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:34:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:34:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108403m [env.py: 870] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54398634 -1.00986674 -0.10840285] yaw=-51.0deg [env.py: 1019] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=447.1ms, total=447.2ms [env.py: 1075] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -1.010, -0.108) [env.py: 1079] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg [env.py: 1082] +05/12 11:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:34:44 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 11:34:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:34:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:34:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:34:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:34:44 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:34:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:34:46 INFO: [Worker 0] Feasible grasp found 99 (originally 99): w/ 0.699[m] 97.848[deg] [grasp_sample.py: 539] +05/12 11:34:47 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:34:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148279m [env.py: 870] +05/12 11:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27013204 -0.99120002 -0.14827925] yaw=-37.2deg [env.py: 1019] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25884988 -1.21132786 -0.14827925] yaw=-39.0deg [env.py: 1019] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:34:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=446.1ms, total=446.1ms [env.py: 1075] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.270, -0.991, -0.148) [env.py: 1079] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg [env.py: 1082] +05/12 11:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/12 11:34:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:34:49 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 11:34:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:34:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:34:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:34:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:34:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:34:53 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.649[m] 90.962[deg] [grasp_sample.py: 539] +05/12 11:34:54 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:34:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164069m [env.py: 870] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.0ms, total=193.0ms [env.py: 1105] +05/12 11:34:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:34:56 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:34:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:34:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:34:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:34:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190155m [env.py: 870] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5222273 -0.92422359 -0.19015488] yaw=-73.2deg [env.py: 1019] +05/12 11:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:34:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.8ms [env.py: 1075] +05/12 11:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -0.924, -0.190) [env.py: 1079] +05/12 11:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg [env.py: 1082] +05/12 11:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 11:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:34:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:34:58 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 11:34:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:34:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:34:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:34:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.771s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.662[m] 94.767[deg] [grasp_sample.py: 539] +05/12 11:35:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:35:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:35:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:35:00 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 11:35:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:35:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:35:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:35:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:35:04 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 11:35:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.151s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:13 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.759[m] 87.237[deg] [grasp_sample.py: 539] +05/12 11:35:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:35:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:35:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:35:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:35:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:35:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.42s (batch: 3.49s, save: 10.93s) [pipeline.py: 300] +05/12 11:35:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:35:15 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.45s: + episode_total: mean=157.74s, total=157.74s, count=1, min=157737.0ms, max=157737.0ms + sensor_polling: mean=409.1ms, total=110.05s, count=269, min=317.0ms, max=688.8ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10931.6ms, max=10931.6ms + physics_step: mean=24.9ms, total=6.70s, count=269, min=19.4ms, max=97.9ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3487.0ms, max=3487.0ms + task_sampling: mean=450.0ms, total=450.0ms, count=1, min=450.0ms, max=450.0ms + task_specific_sample: mean=446.3ms, total=446.3ms, count=1, min=446.3ms, max=446.3ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=425.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:35:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:35:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:35:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 11.70s (batch: 2.86s, save: 8.84s) [pipeline.py: 300] +05/12 11:35:16 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.89s: + episode_total: mean=73.82s, total=147.64s, count=2, min=5393.7ms, max=142249.7ms + sensor_polling: mean=337.5ms, total=93.82s, count=278, min=293.5ms, max=653.8ms + save_trajectories: mean=8.84s, total=8.84s, count=1, min=8840.8ms, max=8840.8ms + physics_step: mean=22.2ms, total=6.18s, count=278, min=15.2ms, max=60.0ms + save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2858.7ms, max=2858.7ms + task_sampling: mean=446.5ms, total=893.0ms, count=2, min=441.2ms, max=451.8ms + task_specific_sample: mean=443.5ms, total=887.0ms, count=2, min=438.3ms, max=448.7ms + scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=1.0ms, max=1.6ms + mj_forward_sync: mean=513.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:35:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106690m [env.py: 870] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50789635 -0.76164274 -0.10668983] yaw=-60.3deg [env.py: 1019] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=486.2ms, total=486.2ms [env.py: 1075] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.762, -0.107) [env.py: 1079] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.3 deg [env.py: 1082] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182171m [env.py: 870] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:17 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.3ms, total=184.3ms [env.py: 1105] +05/12 11:35:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:17 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109827m [env.py: 870] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=204.6ms, total=204.6ms [env.py: 1105] +05/12 11:35:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:19 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.702s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:35:19 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:35:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106522m [env.py: 870] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.5ms, total=201.5ms [env.py: 1105] +05/12 11:35:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:20 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182991m [env.py: 870] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28711864 -0.90424003 -0.1829907 ] yaw=-54.2deg [env.py: 1019] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=435.1ms, total=435.2ms [env.py: 1075] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -0.904, -0.183) [env.py: 1079] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 11:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:21 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115723m [env.py: 870] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10459784 -1.03466921 -0.11572276] yaw=-36.1deg [env.py: 1019] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=361.0ms, total=361.0ms [env.py: 1075] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.105, -1.035, -0.116) [env.py: 1079] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg [env.py: 1082] +05/12 11:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:22 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.468s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:35:23 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:35:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:35:24 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:35:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145241m [env.py: 870] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48639463 -1.07618832 -0.14524128] yaw=-49.3deg [env.py: 1019] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23170951 -0.98498125 -0.14524128] yaw=-56.9deg [env.py: 1019] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.0ms [env.py: 1075] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -1.076, -0.145) [env.py: 1079] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/12 11:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:25 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174916m [env.py: 870] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=195.4ms, total=195.5ms [env.py: 1105] +05/12 11:35:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:25 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.626[m] 79.171[deg] [grasp_sample.py: 539] +05/12 11:35:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152887m [env.py: 870] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.3ms, total=202.4ms [env.py: 1105] +05/12 11:35:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:27 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:27 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:35:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179597m [env.py: 870] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109362m [env.py: 870] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31181618 -1.03860062 -0.17959675] yaw=-48.6deg [env.py: 1019] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=278.6ms, total=278.7ms [env.py: 1075] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.039, -0.180) [env.py: 1079] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg [env.py: 1082] +05/12 11:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=314.9ms, total=315.0ms [env.py: 1105] +05/12 11:35:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:28 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:29 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158970m [env.py: 870] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.9ms, total=204.9ms [env.py: 1105] +05/12 11:35:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:30 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170702m [env.py: 870] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=474.5ms, total=474.5ms [env.py: 1105] +05/12 11:35:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:32 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175262m [env.py: 870] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47731926 -0.74638788 -0.17526192] yaw=-60.1deg [env.py: 1019] +05/12 11:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=519.3ms, total=519.3ms [env.py: 1075] +05/12 11:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -0.746, -0.175) [env.py: 1079] +05/12 11:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 11:35:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/12 11:35:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:34 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.287s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:35 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.701[m] 96.632[deg] [grasp_sample.py: 539] +05/12 11:35:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.361s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:35:36 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:35:36 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:35:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195128m [env.py: 870] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.28817414 -1.18980815 -0.19512807] yaw=-37.5deg [env.py: 1019] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=410.7ms, total=410.7ms [env.py: 1075] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.190, -0.195) [env.py: 1079] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:37 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161268m [env.py: 870] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25500469 -1.106239 -0.16126844] yaw=-42.3deg [env.py: 1019] +05/12 11:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15334568 -1.09159643 -0.16126844] yaw=-37.5deg [env.py: 1019] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35851736 -1.12352905 -0.16126844] yaw=-45.6deg [env.py: 1019] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.9ms, total=183.0ms [env.py: 1075] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.106, -0.161) [env.py: 1079] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg [env.py: 1082] +05/12 11:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 11:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:38 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.654s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:39 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.659[m] 86.031[deg] [grasp_sample.py: 539] +05/12 11:35:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:35:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:35:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:35:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:35:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.685s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:41 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.739[m] 92.063[deg] [grasp_sample.py: 539] +05/12 11:35:42 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:35:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198172m [env.py: 870] +05/12 11:35:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=805.1ms, total=805.2ms [env.py: 1105] +05/12 11:35:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:35:44 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141269m [env.py: 870] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48574723 -0.77472255 -0.14126906] yaw=-53.3deg [env.py: 1019] +05/12 11:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=215.7ms, total=215.8ms [env.py: 1075] +05/12 11:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.775, -0.141) [env.py: 1079] +05/12 11:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg [env.py: 1082] +05/12 11:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 11:35:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:46 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.305s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:35:47 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:35:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106402m [env.py: 870] +05/12 11:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35861098 -0.90918431 -0.10640201] yaw=-50.2deg [env.py: 1019] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.1ms, total=220.1ms [env.py: 1075] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.909, -0.106) [env.py: 1079] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/12 11:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 11:35:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:49 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:35:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.940s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:52 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:35:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193073m [env.py: 870] +05/12 11:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17770923 -1.03902145 -0.19307277] yaw=-44.6deg [env.py: 1019] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=274.3ms, total=274.3ms [env.py: 1075] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.039, -0.193) [env.py: 1079] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/12 11:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 11:35:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:54 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.754s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:35:57 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:35:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:35:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:35:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:35:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:35:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:35:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:35:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135767m [env.py: 870] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:35:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3912753 -0.95632533 -0.13576651] yaw=-44.9deg [env.py: 1019] +05/12 11:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:35:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=449.5ms, total=449.5ms [env.py: 1075] +05/12 11:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.956, -0.136) [env.py: 1079] +05/12 11:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/12 11:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:35:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:35:59 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 11:35:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:35:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:35:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:35:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.066s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:36:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.761[m] 79.049[deg] [grasp_sample.py: 539] +05/12 11:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:01 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:36:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:36:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121478m [env.py: 870] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.5ms, total=202.6ms [env.py: 1105] +05/12 11:36:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:36:03 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:36:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:36:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:36:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:36:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:36:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:36:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184766m [env.py: 870] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:36:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39165036 -0.86156248 -0.18476569] yaw=-63.0deg [env.py: 1019] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:36:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.7ms, total=218.7ms [env.py: 1075] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.862, -0.185) [env.py: 1079] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg [env.py: 1082] +05/12 11:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:36:04 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 11:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:36:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:36:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:36:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:36:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:36:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:36:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:36:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 407 non-colliding grasps [grasp_sample.py: 465] +05/12 11:36:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.074s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:36:12 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.745[m] 88.943[deg] [grasp_sample.py: 539] +05/12 11:36:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:36:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:36:12 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.048[m] 6.073[deg] [grasp_sample.py: 539] +05/12 11:36:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:36:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:36:13 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:36:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:36:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:36:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:36:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120069m [env.py: 870] +05/12 11:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:36:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57188633 -0.78759266 -0.12006862] yaw=-76.7deg [env.py: 1019] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47961457 -0.93252939 -0.12006862] yaw=-63.6deg [env.py: 1019] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.4ms, total=231.5ms [env.py: 1075] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.788, -0.120) [env.py: 1079] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.7 deg [env.py: 1082] +05/12 11:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 11:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:36:15 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 11:36:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:36:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:36:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:36:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:36:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.364s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:36:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:36:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197868m [env.py: 870] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.5ms, total=211.5ms [env.py: 1105] +05/12 11:36:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:36:19 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:36:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:36:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:36:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:36:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:36:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:36:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:36:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165580m [env.py: 870] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:36:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1105] +05/12 11:36:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:36:20 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:36:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:36:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:36:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:36:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:36:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:36:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187865m [env.py: 870] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:36:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.9ms, total=195.9ms [env.py: 1105] +05/12 11:36:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:36:22 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:36:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:36:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:36:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:36:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:36:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:36:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173220m [env.py: 870] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:36:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40136062 -1.0650313 -0.17321952] yaw=-59.3deg [env.py: 1019] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28175501 -0.94135509 -0.17321952] yaw=-47.1deg [env.py: 1019] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.9ms, total=224.0ms [env.py: 1075] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.401, -1.065, -0.173) [env.py: 1079] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 11:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:36:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:36:23 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 11:36:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:36:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:36:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:36:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:36:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:36:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.660[m] 91.619[deg] [grasp_sample.py: 539] +05/12 11:36:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:36:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:36:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:36:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:36:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:36:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:37:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:37:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:37:16 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:37:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:37:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:37:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:37:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:37:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:37:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:37:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:37:36 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 11:37:43 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:37:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:37:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:37:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.08s (batch: 3.91s, save: 10.17s) [pipeline.py: 300] +05/12 11:37:51 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=2.52s: + episode_total: mean=43.43s, total=260.56s, count=6, min=203.1ms, max=182311.1ms + sensor_polling: mean=369.6ms, total=159.66s, count=432, min=293.8ms, max=747.3ms + physics_step: mean=24.0ms, total=10.38s, count=432, min=14.5ms, max=61.7ms + save_trajectories: mean=10.17s, total=10.17s, count=1, min=10168.3ms, max=10168.3ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3913.5ms, max=3913.5ms + task_specific_sample: mean=450.7ms, total=2.70s, count=6, min=199.9ms, max=651.1ms + task_sampling: mean=503.6ms, total=2.52s, count=5, min=420.0ms, max=654.0ms + task_sampling_failed: mean=203.1ms, total=203.1ms, count=1, min=203.1ms, max=203.1ms + scene_randomize: mean=1.2ms, total=7.0ms, count=6, min=1.0ms, max=1.7ms + mj_forward_sync: mean=411.5us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=14.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:37:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:37:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:37:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:37:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:37:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:37:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:37:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:37:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:37:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138476m [env.py: 870] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:37:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=247.5ms, total=247.5ms [env.py: 1105] +05/12 11:37:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:37:52 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:37:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:37:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:37:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:37:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:37:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:37:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:37:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:37:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:37:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:37:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180240m [env.py: 870] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:37:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=208.9ms, total=209.0ms [env.py: 1105] +05/12 11:37:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:37:54 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:37:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:37:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:37:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199025m [env.py: 870] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:37:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.9ms, total=219.9ms [env.py: 1105] +05/12 11:37:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:37:55 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:37:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:37:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:37:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:37:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:37:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:37:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:37:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:37:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:37:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186430m [env.py: 870] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:37:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=228.4ms, total=228.5ms [env.py: 1105] +05/12 11:37:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:37:57 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:37:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:37:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:37:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:37:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:37:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:37:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:37:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:37:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:37:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170365m [env.py: 870] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:37:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:37:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=525.5ms, total=525.5ms [env.py: 1105] +05/12 11:37:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:37:59 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113477m [env.py: 870] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.8ms, total=222.8ms [env.py: 1105] +05/12 11:38:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:38:00 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171431m [env.py: 870] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35608737 -0.8088604 -0.17143064] yaw=-56.5deg [env.py: 1019] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25517866 -0.95851028 -0.17143064] yaw=-46.9deg [env.py: 1019] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=359.7ms, total=359.8ms [env.py: 1075] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -0.809, -0.171) [env.py: 1079] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/12 11:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:02 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:03 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:38:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.640s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:38:04 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:38:05 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:38:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:38:05 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 11:38:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133567m [env.py: 870] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=193.1ms, total=193.1ms [env.py: 1105] +05/12 11:38:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:38:06 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156566m [env.py: 870] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.9ms, total=211.9ms [env.py: 1105] +05/12 11:38:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:38:07 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106157m [env.py: 870] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13656714 -1.03572218 -0.10615691] yaw=-35.4deg [env.py: 1019] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53421683 -0.79417782 -0.10615691] yaw=-69.9deg [env.py: 1019] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.7ms [env.py: 1075] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.137, -1.036, -0.106) [env.py: 1079] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/12 11:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:09 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.313s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:38:10 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121270m [env.py: 870] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.1ms, total=207.1ms [env.py: 1105] +05/12 11:38:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:38:12 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108154m [env.py: 870] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33639914 -1.21587322 -0.1081542 ] yaw=-38.9deg [env.py: 1019] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40238042 -0.89118961 -0.1081542 ] yaw=-57.9deg [env.py: 1019] +05/12 11:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.4ms, total=245.5ms [env.py: 1075] +05/12 11:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.336, -1.216, -0.108) [env.py: 1079] +05/12 11:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg [env.py: 1082] +05/12 11:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 11:38:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:14 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:15 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:38:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.649s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:38:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.647[m] 83.259[deg] [grasp_sample.py: 539] +05/12 11:38:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:38:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:38:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:38:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:38:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:38:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:38:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.32s (batch: 3.72s, save: 9.60s) [pipeline.py: 300] +05/12 11:38:19 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=3.23s: + episode_total: mean=21.59s, total=172.74s, count=8, min=217.5ms, max=161796.5ms + sensor_polling: mean=428.8ms, total=114.91s, count=268, min=311.9ms, max=704.4ms + save_trajectories: mean=9.60s, total=9.60s, count=1, min=9599.6ms, max=9599.6ms + physics_step: mean=24.5ms, total=6.56s, count=268, min=14.9ms, max=100.0ms + task_specific_sample: mean=528.6ms, total=4.23s, count=8, min=213.8ms, max=829.8ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3723.4ms, max=3723.4ms + task_sampling: mean=645.7ms, total=3.23s, count=5, min=410.9ms, max=833.9ms + task_sampling_failed: mean=342.8ms, total=1.03s, count=3, min=217.4ms, max=486.1ms + scene_randomize: mean=1.3ms, total=10.8ms, count=8, min=1.0ms, max=2.6ms + mj_forward_sync: mean=494.9us, total=4.0ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=15.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147861m [env.py: 870] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.4ms, total=190.4ms [env.py: 1105] +05/12 11:38:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:38:20 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137710m [env.py: 870] +05/12 11:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41181643 -0.7887667 -0.13770953] yaw=-53.5deg [env.py: 1019] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36299048 -1.18716932 -0.13770953] yaw=-43.3deg [env.py: 1019] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=429.2ms, total=429.2ms [env.py: 1075] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -0.789, -0.138) [env.py: 1079] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/12 11:38:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/12 11:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:22 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:23 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:38:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:38:23 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/12 11:38:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.428s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:38:24 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114448m [env.py: 870] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21013225 -1.14654461 -0.11444804] yaw=-37.5deg [env.py: 1019] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28134588 -1.10433218 -0.11444804] yaw=-42.9deg [env.py: 1019] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.8ms, total=190.8ms [env.py: 1075] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -1.147, -0.114) [env.py: 1079] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 11:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:26 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.465s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:38:27 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.730[m] 84.500[deg] [grasp_sample.py: 539] +05/12 11:38:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:38:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:38:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:38:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:38:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:38:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:38:34 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 11:38:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:38:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:38:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.61s (batch: 3.88s, save: 9.73s) [pipeline.py: 300] +05/12 11:38:38 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=2.70s: + episode_total: mean=19.82s, total=237.85s, count=12, min=201.0ms, max=134532.1ms + sensor_polling: mean=342.2ms, total=140.65s, count=411, min=297.3ms, max=756.0ms + save_trajectories: mean=9.73s, total=9.73s, count=1, min=9729.5ms, max=9729.5ms + physics_step: mean=22.2ms, total=9.11s, count=411, min=15.2ms, max=45.2ms + task_specific_sample: mean=406.6ms, total=4.88s, count=12, min=197.8ms, max=728.0ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.9ms, max=3877.9ms + task_sampling: mean=539.7ms, total=2.70s, count=5, min=430.6ms, max=730.7ms + task_sampling_failed: mean=317.6ms, total=2.22s, count=7, min=201.0ms, max=542.5ms + scene_randomize: mean=1.2ms, total=14.7ms, count=12, min=0.9ms, max=2.7ms + mj_forward_sync: mean=438.8us, total=5.3ms, count=12, min=0.4ms, max=0.6ms + policy_setup: mean=11.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179274m [env.py: 870] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53809885 -1.02706104 -0.17927448] yaw=-69.1deg [env.py: 1019] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28221156 -0.88115323 -0.17927448] yaw=-62.0deg [env.py: 1019] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.9ms, total=266.0ms [env.py: 1075] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -1.027, -0.179) [env.py: 1079] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 11:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:39 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.733s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:38:41 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.613[m] 100.107[deg] [grasp_sample.py: 539] +05/12 11:38:43 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:38:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167476m [env.py: 870] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.0ms, total=219.1ms [env.py: 1105] +05/12 11:38:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:38:44 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155365m [env.py: 870] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58002963 -0.7229817 -0.15536518] yaw=-66.7deg [env.py: 1019] +05/12 11:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.3ms [env.py: 1075] +05/12 11:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.580, -0.723, -0.155) [env.py: 1079] +05/12 11:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.7 deg [env.py: 1082] +05/12 11:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/12 11:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:46 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.265s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:38:47 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:38:47 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 11:38:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:38:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:38:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.18s (batch: 2.97s, save: 10.21s) [pipeline.py: 300] +05/12 11:38:48 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=4.05s: + episode_total: mean=12.83s, total=192.49s, count=15, min=194.4ms, max=163754.3ms + sensor_polling: mean=361.1ms, total=102.19s, count=283, min=295.1ms, max=655.5ms + save_trajectories: mean=10.21s, total=10.21s, count=1, min=10207.9ms, max=10207.9ms + physics_step: mean=23.1ms, total=6.53s, count=283, min=14.7ms, max=35.1ms + task_specific_sample: mean=404.3ms, total=6.06s, count=15, min=190.1ms, max=810.1ms + task_sampling: mean=506.3ms, total=4.05s, count=8, min=409.6ms, max=657.7ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2971.6ms, max=2971.6ms + task_sampling_failed: mean=293.9ms, total=2.06s, count=7, min=194.4ms, max=813.1ms + scene_randomize: mean=1.1ms, total=17.1ms, count=15, min=0.9ms, max=2.6ms + mj_forward_sync: mean=440.3us, total=6.6ms, count=15, min=0.4ms, max=0.6ms + policy_setup: mean=15.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140470m [env.py: 870] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61851397 -0.86435812 -0.14047008] yaw=-67.6deg [env.py: 1019] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.3ms, total=203.3ms [env.py: 1075] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.864, -0.140) [env.py: 1079] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg [env.py: 1082] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:49 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150187m [env.py: 870] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=254.3ms, total=254.3ms [env.py: 1105] +05/12 11:38:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:38:49 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137294m [env.py: 870] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51031982 -0.94461823 -0.1372935 ] yaw=-55.3deg [env.py: 1019] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.0ms, total=351.0ms [env.py: 1075] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.510, -0.945, -0.137) [env.py: 1079] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 11:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:51 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.600s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:38:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.750[m] 93.810[deg] [grasp_sample.py: 539] +05/12 11:38:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:38:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:38:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:38:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:38:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.459s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:38:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.705[m] 97.946[deg] [grasp_sample.py: 539] +05/12 11:38:54 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:38:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147865m [env.py: 870] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31123807 -1.10987874 -0.14786534] yaw=-34.6deg [env.py: 1019] +05/12 11:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms [env.py: 1075] +05/12 11:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.110, -0.148) [env.py: 1079] +05/12 11:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg [env.py: 1082] +05/12 11:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/12 11:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:56 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 11:38:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:38:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:38:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:38:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:38:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.865s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:38:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.699[m] 80.307[deg] [grasp_sample.py: 539] +05/12 11:38:58 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:38:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:38:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:38:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:38:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:38:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:38:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151863m [env.py: 870] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:38:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25223345 -0.99680029 -0.15186338] yaw=-39.1deg [env.py: 1019] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:38:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1075] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -0.997, -0.152) [env.py: 1079] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg [env.py: 1082] +05/12 11:38:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:38:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:38:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:38:59 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:39:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:39:15 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103215m [env.py: 870] +05/12 11:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4288975 -1.06358034 -0.10321521] yaw=-57.7deg [env.py: 1019] +05/12 11:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17489961 -1.06801983 -0.10321521] yaw=-42.0deg [env.py: 1019] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=753.1ms, total=753.1ms [env.py: 1075] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.064, -0.103) [env.py: 1079] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg [env.py: 1082] +05/12 11:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 11:39:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:17 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:39:19 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.649[m] 88.330[deg] [grasp_sample.py: 539] +05/12 11:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:20 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:39:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:39:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:39:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124287m [env.py: 870] +05/12 11:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.065s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:39:22 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.571[m] 66.690[deg] [grasp_sample.py: 539] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28702734 -0.9443537 -0.12428721] yaw=-39.1deg [env.py: 1019] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=699.1ms, total=699.2ms [env.py: 1075] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -0.944, -0.124) [env.py: 1079] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg [env.py: 1082] +05/12 11:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 11:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:22 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:23 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:39:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.311s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:39:24 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:39:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151848m [env.py: 870] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1682735 -1.06316674 -0.15184803] yaw=-33.0deg [env.py: 1019] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.063, -0.152) [env.py: 1079] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg [env.py: 1082] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:39:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:25 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162345m [env.py: 870] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17144848 -1.07906506 -0.16234508] yaw=-40.1deg [env.py: 1019] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22631329 -1.0117228 -0.16234508] yaw=-49.3deg [env.py: 1019] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.3ms, total=229.3ms [env.py: 1075] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.171, -1.079, -0.162) [env.py: 1079] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/12 11:39:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:26 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.460s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:39:26 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:39:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125273m [env.py: 870] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22028929 -1.11593399 -0.12527279] yaw=-34.5deg [env.py: 1019] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47278977 -0.94757903 -0.12527279] yaw=-65.0deg [env.py: 1019] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=409.5ms, total=409.6ms [env.py: 1075] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.116, -0.125) [env.py: 1079] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg [env.py: 1082] +05/12 11:39:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.590s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:39:28 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:39:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:28 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110513m [env.py: 870] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40446301 -0.86212739 -0.11051275] yaw=-60.9deg [env.py: 1019] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38795899 -0.92525281 -0.11051275] yaw=-53.6deg [env.py: 1019] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1075] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.862, -0.111) [env.py: 1079] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 11:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:30 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.343s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:39:32 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:39:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187737m [env.py: 870] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3093071 -1.11537325 -0.18773739] yaw=-54.4deg [env.py: 1019] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.4ms [env.py: 1075] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -1.115, -0.188) [env.py: 1079] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 11:39:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:33 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:39:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.042s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:39:34 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.715[m] 88.602[deg] [grasp_sample.py: 539] +05/12 11:39:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:39:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:39:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:39:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:39:37 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.669[m] 91.331[deg] [grasp_sample.py: 539] +05/12 11:39:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:39:38 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:39:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126520m [env.py: 870] +05/12 11:39:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=195.8ms, total=195.8ms [env.py: 1105] +05/12 11:39:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:39:40 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122523m [env.py: 870] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30348675 -1.10499454 -0.12252336] yaw=-54.2deg [env.py: 1019] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31024482 -0.94805598 -0.12252336] yaw=-51.1deg [env.py: 1019] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.3ms [env.py: 1075] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.303, -1.105, -0.123) [env.py: 1079] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/12 11:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:42 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.408s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:39:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.688[m] 90.548[deg] [grasp_sample.py: 539] +05/12 11:39:45 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:39:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133628m [env.py: 870] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=511.1ms, total=511.2ms [env.py: 1105] +05/12 11:39:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:39:47 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:39:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102987m [env.py: 870] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28641119 -0.93372801 -0.10298672] yaw=-43.5deg [env.py: 1019] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:39:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.0ms, total=232.0ms [env.py: 1075] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -0.934, -0.103) [env.py: 1079] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/12 11:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m [env.py: 1086] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:39:48 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 11:39:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 11:39:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:39:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:39:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:39:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.368s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:39:50 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114101m [env.py: 870] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=244.4ms, total=244.5ms [env.py: 1105] +05/12 11:39:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:39:52 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:39:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110570m [env.py: 870] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.5ms, total=215.5ms [env.py: 1105] +05/12 11:39:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:39:53 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163679m [env.py: 870] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=250.7ms, total=250.7ms [env.py: 1105] +05/12 11:39:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:39:55 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:39:55 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:39:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111415m [env.py: 870] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=363.3ms, total=363.3ms [env.py: 1105] +05/12 11:39:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:39:56 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103458m [env.py: 870] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.8ms, total=194.8ms [env.py: 1105] +05/12 11:39:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:39:58 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:39:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:39:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:39:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:39:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:39:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:39:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:39:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:39:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:39:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158803m [env.py: 870] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:39:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55213355 -0.93108476 -0.15880268] yaw=-58.2deg [env.py: 1019] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:40:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=440.2ms, total=440.2ms [env.py: 1075] +05/12 11:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.552, -0.931, -0.159) [env.py: 1079] +05/12 11:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/12 11:40:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 11:40:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:40:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:40:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:40:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:40:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:40:00 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 11:40:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:40:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:40:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:40:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:40:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.617s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:40:04 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.693[m] 81.344[deg] [grasp_sample.py: 539] +05/12 11:40:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:40:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:40:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:40:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:40:14 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:40:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:40:14 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 11:40:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:40:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:40:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 11.60s (batch: 3.01s, save: 8.59s) [pipeline.py: 300] +05/12 11:40:26 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=1.47s: + episode_total: mean=11.63s, total=139.54s, count=12, min=201.2ms, max=132889.6ms + sensor_polling: mean=342.3ms, total=91.06s, count=266, min=296.0ms, max=554.0ms + save_trajectories: mean=8.59s, total=8.59s, count=1, min=8591.0ms, max=8591.0ms + physics_step: mean=22.1ms, total=5.88s, count=266, min=19.6ms, max=30.8ms + task_specific_sample: mean=314.7ms, total=3.78s, count=12, min=198.1ms, max=607.0ms + save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3005.3ms, max=3005.3ms + task_sampling_failed: mean=260.7ms, total=2.35s, count=9, min=201.2ms, max=535.6ms + task_sampling: mean=490.2ms, total=1.47s, count=3, min=407.9ms, max=609.8ms + scene_randomize: mean=1.2ms, total=14.6ms, count=12, min=0.9ms, max=2.7ms + mj_forward_sync: mean=468.2us, total=5.6ms, count=12, min=0.4ms, max=0.6ms + policy_setup: mean=13.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:40:27 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:40:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:40:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:40:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:40:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:40:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:40:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:40:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100574m [env.py: 870] +05/12 11:40:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:40:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.0ms, total=230.1ms [env.py: 1105] +05/12 11:40:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:40:28 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:40:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:40:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:40:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:40:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:40:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:40:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:40:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:40:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195054m [env.py: 870] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:40:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36973261 -1.17460754 -0.19505414] yaw=-47.2deg [env.py: 1019] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3579927 -1.06853103 -0.19505414] yaw=-49.8deg [env.py: 1019] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:40:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=265.9ms, total=265.9ms [env.py: 1075] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.175, -0.195) [env.py: 1079] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/12 11:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:40:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:40:30 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 11:40:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 11:40:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:40:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:40:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:40:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:40:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.579[m] 73.887[deg] [grasp_sample.py: 539] +05/12 11:40:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:40:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:40:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:40:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:40:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:40:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:40:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:40:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:40:49 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 11:41:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:41:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:41:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.38s (batch: 3.37s, save: 9.01s) [pipeline.py: 300] +05/12 11:41:02 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=1.12s: + episode_total: mean=53.26s, total=159.77s, count=3, min=200.6ms, max=157151.8ms + sensor_polling: mean=388.5ms, total=109.94s, count=283, min=329.7ms, max=637.9ms + save_trajectories: mean=9.01s, total=9.01s, count=1, min=9011.1ms, max=9011.1ms + physics_step: mean=23.5ms, total=6.65s, count=283, min=14.8ms, max=34.8ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3369.4ms, max=3369.4ms + task_specific_sample: mean=437.5ms, total=1.31s, count=3, min=196.3ms, max=752.8ms + task_sampling: mean=560.6ms, total=1.12s, count=2, min=365.6ms, max=755.7ms + task_sampling_failed: mean=200.6ms, total=200.6ms, count=1, min=200.6ms, max=200.6ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.0ms, max=2.2ms + mj_forward_sync: mean=439.0us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:41:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:41:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:41:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:41:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:41:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178688m [env.py: 870] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.8ms, total=216.9ms [env.py: 1105] +05/12 11:41:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:41:04 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:41:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:41:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:41:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:41:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:41:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:41:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:41:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163976m [env.py: 870] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:41:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29847456 -1.05898877 -0.163976 ] yaw=-52.6deg [env.py: 1019] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51392561 -0.79456033 -0.163976 ] yaw=-64.5deg [env.py: 1019] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:41:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.0ms, total=172.0ms [env.py: 1075] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.059, -0.164) [env.py: 1079] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/12 11:41:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:41:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:41:06 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 11:41:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 11:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:41:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:41:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:41:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:41:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.724[m] 83.549[deg] [grasp_sample.py: 539] +05/12 11:41:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:41:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:41:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:41:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:41:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:41:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:41:18 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:41:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:41:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:41:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:41:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:41:38 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 11:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:41:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:41:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.44s (batch: 3.38s, save: 9.06s) [pipeline.py: 300] +05/12 11:41:51 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=2.45s: + episode_total: mean=31.05s, total=186.32s, count=6, min=227.2ms, max=143710.1ms + sensor_polling: mean=339.4ms, total=113.37s, count=334, min=295.1ms, max=804.3ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9059.7ms, max=9059.7ms + physics_step: mean=22.3ms, total=7.44s, count=334, min=17.0ms, max=110.3ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3380.1ms, max=3380.1ms + task_specific_sample: mean=443.8ms, total=2.66s, count=6, min=223.8ms, max=686.1ms + task_sampling: mean=490.6ms, total=2.45s, count=5, min=403.4ms, max=689.3ms + task_sampling_failed: mean=227.1ms, total=227.1ms, count=1, min=227.1ms, max=227.1ms + scene_randomize: mean=1.3ms, total=7.9ms, count=6, min=0.9ms, max=2.6ms + mj_forward_sync: mean=405.6us, total=2.4ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:41:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:41:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:41:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:41:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:41:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:41:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:41:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168284m [env.py: 870] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:41:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29427692 -1.09043729 -0.16828412] yaw=-54.4deg [env.py: 1019] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:41:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.4ms [env.py: 1075] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -1.090, -0.168) [env.py: 1079] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/12 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:41:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:41:53 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 11:41:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 11:41:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:41:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:41:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:41:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.508s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:41:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.742[m] 92.719[deg] [grasp_sample.py: 539] +05/12 11:41:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:41:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:41:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:42:01 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:42:03 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:42:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:42:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:42:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:42:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 11:42:20 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 11:42:21 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:42:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:42:21 INFO: [Worker 0] Preparing episode data: 251 timesteps [save_utils.py: 278] +05/12 11:42:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:42:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:42:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:42:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 11.93s (batch: 3.07s, save: 8.86s) [pipeline.py: 300] +05/12 11:42:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:42:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:42:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 11.28s (batch: 3.16s, save: 8.11s) [pipeline.py: 300] +05/12 11:42:33 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=6.19s: + episode_total: mean=10.52s, total=199.88s, count=19, min=202.6ms, max=153457.7ms + sensor_polling: mean=382.1ms, total=104.69s, count=274, min=293.4ms, max=674.5ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.8ms, max=8857.8ms + task_specific_sample: mean=443.9ms, total=8.43s, count=19, min=199.7ms, max=960.3ms + physics_step: mean=23.9ms, total=6.56s, count=274, min=19.3ms, max=33.7ms + task_sampling: mean=562.4ms, total=6.19s, count=11, min=408.8ms, max=962.5ms + save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3073.2ms, max=3073.2ms + task_sampling_failed: mean=289.6ms, total=2.32s, count=8, min=202.5ms, max=520.9ms + scene_randomize: mean=1.1ms, total=21.4ms, count=19, min=0.9ms, max=2.4ms + mj_forward_sync: mean=429.7us, total=8.2ms, count=19, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.2ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:42:33 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.53s: + episode_total: mean=62.13s, total=124.27s, count=2, min=240.3ms, max=124025.1ms + sensor_polling: mean=334.8ms, total=83.70s, count=250, min=302.7ms, max=543.6ms + save_trajectories: mean=8.11s, total=8.11s, count=1, min=8114.2ms, max=8114.2ms + physics_step: mean=22.5ms, total=5.62s, count=250, min=14.8ms, max=144.1ms + save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3161.4ms, max=3161.4ms + task_specific_sample: mean=379.2ms, total=758.3ms, count=2, min=235.9ms, max=522.4ms + task_sampling: mean=525.4ms, total=525.4ms, count=1, min=525.4ms, max=525.4ms + task_sampling_failed: mean=240.2ms, total=240.2ms, count=1, min=240.2ms, max=240.2ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.4ms + mj_forward_sync: mean=403.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:42:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:42:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:42:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:42:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:42:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:42:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:42:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154583m [env.py: 870] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:42:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45562898 -0.97504391 -0.15458343] yaw=-59.3deg [env.py: 1019] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:42:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.7ms, total=220.7ms [env.py: 1075] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.975, -0.155) [env.py: 1079] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/12 11:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:42:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:42:34 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 11:42:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 11:42:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:42:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:42:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:42:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:42:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:42:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:42:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:42:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:42:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100758m [env.py: 870] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:42:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:42:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42560767 -0.897501 -0.10075785] yaw=-55.0deg [env.py: 1019] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35007521 -1.10900374 -0.10075785] yaw=-35.2deg [env.py: 1019] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1932811 -1.1237809 -0.10075785] yaw=-28.8deg [env.py: 1019] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:42:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.5ms, total=131.6ms [env.py: 1075] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.898, -0.101) [env.py: 1079] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 11:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:42:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:42:35 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 11:42:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/12 11:42:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:42:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:42:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:42:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.749[m] 90.171[deg] [grasp_sample.py: 539] +05/12 11:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.758s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:42:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.705[m] 85.077[deg] [grasp_sample.py: 539] +05/12 11:42:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:42:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:42:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:42:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:42:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:42:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:42:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:42:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:42:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:06 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:43:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:43:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:43:15 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.510[m] 56.528[deg] [grasp_sample.py: 539] +05/12 11:43:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:43:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:43:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:43:27 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:43:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:43:27 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 11:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:43:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:43:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:43:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.53s (batch: 3.48s, save: 9.05s) [pipeline.py: 300] +05/12 11:43:40 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:43:40 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.40s: + episode_total: mean=77.71s, total=155.43s, count=2, min=229.1ms, max=155196.5ms + sensor_polling: mean=393.6ms, total=109.02s, count=277, min=339.2ms, max=583.0ms + save_trajectories: mean=9.05s, total=9.05s, count=1, min=9052.5ms, max=9052.5ms + physics_step: mean=23.4ms, total=6.48s, count=277, min=19.6ms, max=39.1ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3478.8ms, max=3478.8ms + task_specific_sample: mean=309.6ms, total=619.2ms, count=2, min=222.7ms, max=396.5ms + task_sampling: mean=399.1ms, total=399.1ms, count=1, min=399.1ms, max=399.1ms + task_sampling_failed: mean=229.1ms, total=229.1ms, count=1, min=229.1ms, max=229.1ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms + mj_forward_sync: mean=427.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:43:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184929m [env.py: 870] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.5ms, total=215.6ms [env.py: 1105] +05/12 11:43:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:43:42 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.073s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:43:42 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.166[m] 21.314[deg] [grasp_sample.py: 539] +05/12 11:43:43 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138082m [env.py: 870] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55520691 -0.88125024 -0.13808187] yaw=-60.0deg [env.py: 1019] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=209.0ms [env.py: 1075] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.881, -0.138) [env.py: 1079] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 11:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:43:44 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 11:43:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 11:43:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143808m [env.py: 870] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.9ms, total=175.0ms [env.py: 1105] +05/12 11:43:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:43:45 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:43:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.049s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:43:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.755[m] 88.020[deg] [grasp_sample.py: 539] +05/12 11:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116251m [env.py: 870] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33761457 -0.98959055 -0.11625079] yaw=-39.5deg [env.py: 1019] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:46 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:43:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.1ms [env.py: 1075] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -0.990, -0.116) [env.py: 1079] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.5 deg [env.py: 1082] +05/12 11:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:43:46 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 11:43:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 11:43:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121867m [env.py: 870] +05/12 11:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26843787 -1.1061978 -0.12186701] yaw=-36.4deg [env.py: 1019] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=479.2ms, total=479.3ms [env.py: 1075] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -1.106, -0.122) [env.py: 1079] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg [env.py: 1082] +05/12 11:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 11:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:43:48 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 11:43:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:43:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.483s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:43:50 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.763[m] 82.379[deg] [grasp_sample.py: 539] +05/12 11:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:51 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191508m [env.py: 870] +05/12 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=480.7ms, total=480.8ms [env.py: 1105] +05/12 11:43:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:43:53 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179447m [env.py: 870] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1780921 -0.95650292 -0.17944677] yaw=-41.3deg [env.py: 1019] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56229316 -0.9785348 -0.17944677] yaw=-69.4deg [env.py: 1019] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:43:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms [env.py: 1075] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -0.957, -0.179) [env.py: 1079] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.3 deg [env.py: 1082] +05/12 11:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:43:54 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 11:43:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:43:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:43:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.388s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:43:56 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:43:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:43:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:43:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:43:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:43:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:43:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152376m [env.py: 870] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:43:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41950179 -0.94576033 -0.15237644] yaw=-64.9deg [env.py: 1019] +05/12 11:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:43:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=204.0ms [env.py: 1075] +05/12 11:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.946, -0.152) [env.py: 1079] +05/12 11:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/12 11:43:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 11:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:43:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:43:58 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 11:43:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:43:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:43:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:43:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:43:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:43:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.728s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:43:58 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.742[m] 82.855[deg] [grasp_sample.py: 539] +05/12 11:43:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:43:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.640s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:43:59 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.171[m] 19.029[deg] [grasp_sample.py: 539] +05/12 11:43:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:43:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:43:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:43:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:43:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:43:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:02 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:44:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:44:02 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 11:44:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.920s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:44:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.744[m] 87.879[deg] [grasp_sample.py: 539] +05/12 11:44:03 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:44:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:44:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:44:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:44:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:44:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126776m [env.py: 870] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:44:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.7ms, total=213.7ms [env.py: 1105] +05/12 11:44:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:44:04 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:44:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:44:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:44:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:44:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:44:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191507m [env.py: 870] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:44:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1105] +05/12 11:44:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:44:06 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:44:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:44:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:44:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:44:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:44:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177106m [env.py: 870] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:44:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.9ms, total=208.9ms [env.py: 1105] +05/12 11:44:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:44:07 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:44:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:44:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166417m [env.py: 870] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31074949 -1.0850264 -0.16641747] yaw=-38.2deg [env.py: 1019] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.3ms, total=226.4ms [env.py: 1075] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.085, -0.166) [env.py: 1079] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/12 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:44:09 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 11:44:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:44:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:44:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:44:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:44:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.083s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:44:11 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.699[m] 84.168[deg] [grasp_sample.py: 539] +05/12 11:44:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:44:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:44:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:44:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:44:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:44:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.93s (batch: 3.62s, save: 9.31s) [pipeline.py: 300] +05/12 11:44:15 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.44s: + episode_total: mean=142.47s, total=142.47s, count=1, min=142472.7ms, max=142472.7ms + sensor_polling: mean=335.5ms, total=94.60s, count=282, min=299.9ms, max=577.9ms + save_trajectories: mean=9.31s, total=9.31s, count=1, min=9306.9ms, max=9306.9ms + physics_step: mean=22.0ms, total=6.21s, count=282, min=15.1ms, max=35.3ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3621.4ms, max=3621.4ms + task_sampling: mean=440.6ms, total=440.6ms, count=1, min=440.6ms, max=440.6ms + task_specific_sample: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:44:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:44:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:44:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:44:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:44:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:44:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111622m [env.py: 870] +05/12 11:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:44:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40595809 -0.96872907 -0.11162174] yaw=-49.9deg [env.py: 1019] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51649232 -0.84665614 -0.11162174] yaw=-70.9deg [env.py: 1019] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:44:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.3ms [env.py: 1075] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.406, -0.969, -0.112) [env.py: 1079] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 11:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 11:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:44:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:44:17 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 11:44:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 11:44:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:44:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:44:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:44:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:44:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.967s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:44:30 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.697[m] 79.409[deg] [grasp_sample.py: 539] +05/12 11:44:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:44:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:44:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:44:31 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:44:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:44:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:44:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:44:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 436 non-colliding grasps [grasp_sample.py: 465] +05/12 11:44:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.447s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:44:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.171[m] 4.606[deg] [grasp_sample.py: 539] +05/12 11:44:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:44:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:44:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:44:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:44:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:44:56 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:44:56 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:44:56 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=False episode_total=0.47s: + episode_total: mean=142.22s, total=142.22s, count=1, min=142223.9ms, max=142223.9ms + sensor_polling: mean=364.2ms, total=97.59s, count=268, min=295.9ms, max=708.6ms + physics_step: mean=22.5ms, total=6.03s, count=268, min=13.7ms, max=56.0ms + task_sampling: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms + task_specific_sample: mean=469.4ms, total=469.4ms, count=1, min=469.4ms, max=469.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=371.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:44:58 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 11:44:58 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 11:44:58 INFO: [Worker 0] Worker 0 completed house 1: 6/9 successful episodes [pipeline.py: 1323] +05/12 11:44:58 INFO: [Worker 0] [PROFILE] House 1 complete: 6/9 successful, 9 episodes, total_time=2751.88s + House averages: + episode_total: mean=22.34s, total=1608.64s, count=72, min=170.7ms, max=163754.3ms + sensor_polling: mean=358.8ms, total=940.64s, count=2622, min=292.0ms, max=791.9ms + physics_step: mean=22.7ms, total=59.44s, count=2622, min=13.1ms, max=79.5ms + save_trajectories: mean=9.40s, total=56.40s, count=6, min=8840.8ms, max=10475.2ms + task_specific_sample: mean=406.1ms, total=29.24s, count=72, min=167.4ms, max=960.3ms + task_sampling: mean=504.5ms, total=21.69s, count=43, min=408.8ms, max=962.5ms + save_batch_prep: mean=3.12s, total=18.71s, count=6, min=2858.7ms, max=3374.1ms + task_sampling_failed: mean=361.9ms, total=10.49s, count=29, min=170.7ms, max=2983.6ms + scene_load: mean=2.73s, total=2.73s, count=1, min=2729.1ms, max=2729.1ms + scene_env_create: mean=1.63s, total=1.63s, count=1, min=1632.8ms, max=1632.8ms + scene_compile: mean=955.8ms, total=955.8ms, count=1, min=955.8ms, max=955.8ms + compile_mujoco: mean=667.4ms, total=667.4ms, count=1, min=667.4ms, max=667.4ms + compile_xml_load: mean=213.8ms, total=213.8ms, count=1, min=213.8ms, max=213.8ms + scene_init: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + scene_randomize: mean=1.2ms, total=86.8ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms + compile_aux_policy_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms + scene_asset_install: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms + mj_forward_sync: mean=429.0us, total=30.9ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=30.2ms, total=30.2ms, count=1, min=30.2ms, max=30.2ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=15.7us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 11:44:58 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 11:44:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=2751.88s + Worker averages: + episode_total: mean=22.34s, total=1608.64s, count=72, min=170.7ms, max=163754.3ms + sensor_polling: mean=358.8ms, total=940.64s, count=2622, min=292.0ms, max=791.9ms + physics_step: mean=22.7ms, total=59.44s, count=2622, min=13.1ms, max=79.5ms + save_trajectories: mean=9.40s, total=56.40s, count=6, min=8840.8ms, max=10475.2ms + task_specific_sample: mean=406.1ms, total=29.24s, count=72, min=167.4ms, max=960.3ms + task_sampling: mean=504.5ms, total=21.69s, count=43, min=408.8ms, max=962.5ms + save_batch_prep: mean=3.12s, total=18.71s, count=6, min=2858.7ms, max=3374.1ms + task_sampling_failed: mean=361.9ms, total=10.49s, count=29, min=170.7ms, max=2983.6ms + scene_load: mean=2.73s, total=2.73s, count=1, min=2729.1ms, max=2729.1ms + scene_env_create: mean=1.63s, total=1.63s, count=1, min=1632.8ms, max=1632.8ms + scene_compile: mean=955.8ms, total=955.8ms, count=1, min=955.8ms, max=955.8ms + compile_mujoco: mean=667.4ms, total=667.4ms, count=1, min=667.4ms, max=667.4ms + compile_xml_load: mean=213.8ms, total=213.8ms, count=1, min=213.8ms, max=213.8ms + scene_init: mean=97.3ms, total=97.3ms, count=1, min=97.3ms, max=97.3ms + scene_randomize: mean=1.2ms, total=86.8ms, count=72, min=0.9ms, max=3.1ms + compile_aux_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms + compile_aux_policy_objects: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms + scene_asset_install: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms + mj_forward_sync: mean=429.0us, total=30.9ms, count=72, min=0.4ms, max=0.6ms + asset_install_grasps: mean=30.2ms, total=30.2ms, count=1, min=30.2ms, max=30.2ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=15.7us, total=0.7ms, count=43, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 11:44:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:45:01 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 11:45:01 INFO: Success count: 6, Total count: 9 [pipeline.py: 1491] +05/12 11:45:01 INFO: Success rate: 66.67% [pipeline.py: 1492] +05/12 11:45:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:45:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:45:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:45:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.201[m] 16.271[deg] [grasp_sample.py: 539] +05/12 11:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:45:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:45:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:45:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:45:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:45:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.481s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:45:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.197[m] 15.871[deg] [grasp_sample.py: 539] +05/12 11:45:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:45:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:45:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:44 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:45:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:45:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:45:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:45:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:45:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.588s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:45:46 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.197[m] 15.871[deg] [grasp_sample.py: 539] +05/12 11:45:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:45:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:45:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:45:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:45:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:45:58 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:45:58 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=0.41s: + episode_total: mean=101.82s, total=101.82s, count=1, min=101819.7ms, max=101819.7ms + sensor_polling: mean=323.1ms, total=46.84s, count=145, min=304.5ms, max=516.8ms + physics_step: mean=19.7ms, total=2.85s, count=145, min=12.8ms, max=30.0ms + task_sampling: mean=410.3ms, total=410.3ms, count=1, min=410.3ms, max=410.3ms + task_specific_sample: mean=407.3ms, total=407.3ms, count=1, min=407.3ms, max=407.3ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=389.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:45:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:45:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:45:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:45:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:45:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:45:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:45:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158701m [env.py: 870] +05/12 11:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:45:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:45:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=338.6ms, total=338.6ms [env.py: 1105] +05/12 11:46:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:46:00 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:46:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117914m [env.py: 870] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43787732 -0.83976135 -0.11791445] yaw=-55.0deg [env.py: 1019] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:46:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=267.6ms, total=267.6ms [env.py: 1075] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.840, -0.118) [env.py: 1079] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 11:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:46:02 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 11:46:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 11:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:46:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:46:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.329s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:46:03 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:46:04 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:46:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:46:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:46:04 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 11:46:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125287m [env.py: 870] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=173.5ms, total=173.6ms [env.py: 1105] +05/12 11:46:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:46:05 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:46:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182652m [env.py: 870] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46500492 -0.92935517 -0.18265179] yaw=-64.1deg [env.py: 1019] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:46:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=210.8ms, total=210.9ms [env.py: 1075] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.929, -0.183) [env.py: 1079] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 11:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:46:06 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 11:46:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 11:46:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:46:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:46:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.832s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:46:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.695[m] 83.786[deg] [grasp_sample.py: 539] +05/12 11:46:12 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:46:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140969m [env.py: 870] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=255.8ms, total=255.9ms [env.py: 1105] +05/12 11:46:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:46:13 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:46:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133047m [env.py: 870] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48003605 -1.07443632 -0.13304657] yaw=-49.2deg [env.py: 1019] +05/12 11:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:46:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=157.0ms, total=157.0ms [env.py: 1075] +05/12 11:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -1.074, -0.133) [env.py: 1079] +05/12 11:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 11:46:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 11:46:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:46:15 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 11:46:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 11:46:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:46:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:46:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.834s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:46:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.667[m] 83.844[deg] [grasp_sample.py: 539] +05/12 11:46:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:46:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:46:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:46:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:46:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.16s (batch: 3.91s, save: 9.26s) [pipeline.py: 300] +05/12 11:46:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:46:18 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.83s: + episode_total: mean=73.68s, total=221.03s, count=3, min=184.2ms, max=152243.2ms + sensor_polling: mean=341.8ms, total=145.60s, count=426, min=273.3ms, max=592.9ms + physics_step: mean=22.3ms, total=9.49s, count=426, min=14.9ms, max=35.0ms + save_trajectories: mean=9.26s, total=9.26s, count=1, min=9255.8ms, max=9255.8ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3905.5ms, max=3905.5ms + task_specific_sample: mean=333.5ms, total=1.00s, count=3, min=180.6ms, max=455.6ms + task_sampling: mean=413.8ms, total=827.7ms, count=2, min=367.2ms, max=460.4ms + task_sampling_failed: mean=184.1ms, total=184.1ms, count=1, min=184.1ms, max=184.1ms + scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.0ms, max=3.2ms + mj_forward_sync: mean=481.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=14.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:46:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135862m [env.py: 870] +05/12 11:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=407.8ms, total=407.8ms [env.py: 1105] +05/12 11:46:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:46:20 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:46:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178695m [env.py: 870] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=204.9ms, total=204.9ms [env.py: 1105] +05/12 11:46:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:46:21 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131616m [env.py: 870] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3288614 -1.15584492 -0.13161552] yaw=-31.7deg [env.py: 1019] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.5ms [env.py: 1075] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.156, -0.132) [env.py: 1079] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg [env.py: 1082] +05/12 11:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:46:23 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 11:46:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 11:46:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:46:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:46:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:46:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:46:24 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 11:46:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.588s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:46:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.664[m] 81.952[deg] [grasp_sample.py: 539] +05/12 11:46:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:46:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:46:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:46:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:46:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.28s (batch: 3.96s, save: 10.32s) [pipeline.py: 300] +05/12 11:46:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:39 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=2.43s: + episode_total: mean=16.51s, total=165.10s, count=10, min=216.1ms, max=149862.3ms + sensor_polling: mean=374.6ms, total=103.76s, count=277, min=343.0ms, max=576.5ms + save_trajectories: mean=10.32s, total=10.32s, count=1, min=10321.5ms, max=10321.5ms + physics_step: mean=22.1ms, total=6.11s, count=277, min=15.2ms, max=65.4ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3963.4ms, max=3963.4ms + task_specific_sample: mean=377.9ms, total=3.78s, count=10, min=213.2ms, max=723.6ms + task_sampling: mean=486.7ms, total=2.43s, count=5, min=406.0ms, max=725.8ms + task_sampling_failed: mean=275.0ms, total=1.38s, count=5, min=216.1ms, max=492.9ms + scene_randomize: mean=1.2ms, total=12.0ms, count=10, min=0.9ms, max=2.6ms + mj_forward_sync: mean=421.6us, total=4.2ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=14.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:46:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:46:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:46:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:46:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:46:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:46:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171078m [env.py: 870] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:46:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31532597 -1.13515482 -0.17107847] yaw=-51.5deg [env.py: 1019] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35160746 -0.99818675 -0.17107847] yaw=-61.4deg [env.py: 1019] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:46:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.0ms [env.py: 1075] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.135, -0.171) [env.py: 1079] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/12 11:46:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:46:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:46:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:46:40 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 11:46:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 11:46:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:46:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.478s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:46:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.674[m] 80.934[deg] [grasp_sample.py: 539] +05/12 11:46:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:46:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:46:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:46:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:46:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:46:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:46:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.277s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:46:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.487[m] 57.029[deg] [grasp_sample.py: 539] +05/12 11:46:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:46:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:46:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:46:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:46:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:46:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:46:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:46:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:47:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.402s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:47:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.487[m] 57.031[deg] [grasp_sample.py: 539] +05/12 11:47:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:47:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:47:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:47:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:47:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:47:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:47:13 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.487[m] 57.031[deg] [grasp_sample.py: 539] +05/12 11:47:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:47:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:47:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:47:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:47:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:47:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:47:24 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:47:24 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=1.35s: + episode_total: mean=13.06s, total=78.35s, count=6, min=181.8ms, max=69891.1ms + sensor_polling: mean=319.3ms, total=25.54s, count=80, min=298.0ms, max=562.2ms + task_specific_sample: mean=353.5ms, total=2.12s, count=6, min=178.6ms, max=584.5ms + physics_step: mean=18.7ms, total=1.50s, count=80, min=13.0ms, max=53.0ms + task_sampling: mean=448.5ms, total=1.35s, count=3, min=342.2ms, max=587.6ms + task_sampling_failed: mean=266.6ms, total=799.8ms, count=3, min=181.8ms, max=353.5ms + scene_randomize: mean=1.2ms, total=7.4ms, count=6, min=1.0ms, max=1.6ms + mj_forward_sync: mean=407.2us, total=2.4ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:47:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:47:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:47:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:47:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:47:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:47:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:47:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151289m [env.py: 870] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:47:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.249554 -0.89502805 -0.15128876] yaw=-56.3deg [env.py: 1019] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:47:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=471.7ms, total=471.7ms [env.py: 1075] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -0.895, -0.151) [env.py: 1079] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/12 11:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:47:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:47:26 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 11:47:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:47:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:47:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:47:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:47:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.306s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:47:28 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:47:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:47:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:47:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:47:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:47:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:47:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:47:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:47:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:47:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181574m [env.py: 870] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:47:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.259824 -1.01839669 -0.18157443] yaw=-49.6deg [env.py: 1019] +05/12 11:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:47:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=448.1ms, total=448.1ms [env.py: 1075] +05/12 11:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.018, -0.182) [env.py: 1079] +05/12 11:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg [env.py: 1082] +05/12 11:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:47:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:47:30 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 11:47:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:47:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:47:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:47:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:47:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:47:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.731s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:47:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.713[m] 89.289[deg] [grasp_sample.py: 539] +05/12 11:47:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:47:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:47:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:47:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:47:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:47:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:03 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:48:22 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:48:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:48:22 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 11:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:48:28 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:48:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:48:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:48:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.09s (batch: 3.42s, save: 8.66s) [pipeline.py: 300] +05/12 11:48:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:35 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.46s: + episode_total: mean=44.44s, total=133.32s, count=3, min=213.1ms, max=132687.7ms + sensor_polling: mean=331.3ms, total=89.79s, count=271, min=295.7ms, max=635.6ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8664.4ms, max=8664.4ms + physics_step: mean=22.3ms, total=6.04s, count=271, min=14.6ms, max=79.7ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3421.6ms, max=3421.6ms + task_specific_sample: mean=359.4ms, total=1.08s, count=3, min=209.7ms, max=454.7ms + task_sampling_failed: mean=315.6ms, total=631.3ms, count=2, min=213.1ms, max=418.2ms + task_sampling: mean=456.9ms, total=456.9ms, count=1, min=456.9ms, max=456.9ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.0ms, max=2.3ms + mj_forward_sync: mean=416.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:48:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:48:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:48:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:48:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131618m [env.py: 870] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29090885 -1.09720241 -0.13161814] yaw=-32.9deg [env.py: 1019] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21591969 -1.12187006 -0.13161814] yaw=-48.9deg [env.py: 1019] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:48:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1075] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.291, -1.097, -0.132) [env.py: 1079] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.9 deg [env.py: 1082] +05/12 11:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 11:48:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:48:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:48:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:48:37 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 11:48:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 11:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:48:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:48:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:48:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.206s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:48:41 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.702[m] 82.078[deg] [grasp_sample.py: 539] +05/12 11:48:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:48:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:48:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:48:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:47 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:48:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:48:47 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 11:48:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:48:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:48:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:48:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 346 non-colliding grasps [grasp_sample.py: 465] +05/12 11:48:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:48:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.039[m] 1.377[deg] [grasp_sample.py: 539] +05/12 11:48:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:48:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:48:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:48:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:48:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:48:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.13s (batch: 3.45s, save: 8.68s) [pipeline.py: 300] +05/12 11:49:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:00 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.44s: + episode_total: mean=139.93s, total=139.93s, count=1, min=139934.0ms, max=139934.0ms + sensor_polling: mean=361.6ms, total=97.26s, count=269, min=316.6ms, max=559.2ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8680.1ms, max=8680.1ms + physics_step: mean=21.2ms, total=5.69s, count=269, min=14.8ms, max=31.9ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3449.6ms, max=3449.6ms + task_sampling: mean=438.6ms, total=438.6ms, count=1, min=438.6ms, max=438.6ms + task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=426.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:49:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139125m [env.py: 870] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=448.3ms, total=448.4ms [env.py: 1105] +05/12 11:49:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:49:01 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:49:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120804m [env.py: 870] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17530394 -0.98438443 -0.12080367] yaw=-41.5deg [env.py: 1019] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=413.7ms, total=413.8ms [env.py: 1075] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -0.984, -0.121) [env.py: 1079] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg [env.py: 1082] +05/12 11:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:03 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:49:05 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:49:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190166m [env.py: 870] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58589221 -0.89710745 -0.19016571] yaw=-64.1deg [env.py: 1019] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.3ms [env.py: 1075] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.897, -0.190) [env.py: 1079] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg [env.py: 1082] +05/12 11:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:07 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:49:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.341s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.658[m] 90.395[deg] [grasp_sample.py: 539] +05/12 11:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:49:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197397m [env.py: 870] +05/12 11:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24850364 -1.12389093 -0.19739734] yaw=-48.5deg [env.py: 1019] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.8ms [env.py: 1075] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.124, -0.197) [env.py: 1079] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/12 11:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 11:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:12 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.656s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.703[m] 89.077[deg] [grasp_sample.py: 539] +05/12 11:49:15 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:49:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103050m [env.py: 870] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59213787 -0.88736501 -0.10304963] yaw=-63.5deg [env.py: 1019] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33610252 -0.89263767 -0.10304963] yaw=-49.0deg [env.py: 1019] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37086864 -1.04613534 -0.10304963] yaw=-49.6deg [env.py: 1019] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.7ms [env.py: 1075] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.887, -0.103) [env.py: 1079] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg [env.py: 1082] +05/12 11:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:16 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.660s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.752[m] 86.332[deg] [grasp_sample.py: 539] +05/12 11:49:17 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:49:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 344 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:18 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:49:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.033s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:19 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.054[m] 8.514[deg] [grasp_sample.py: 539] +05/12 11:49:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193128m [env.py: 870] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43448332 -1.06655278 -0.19312783] yaw=-55.1deg [env.py: 1019] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.6ms, total=206.7ms [env.py: 1075] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.067, -0.193) [env.py: 1079] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 11:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:49:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:20 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.641[m] 87.397[deg] [grasp_sample.py: 539] +05/12 11:49:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:22 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:49:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199260m [env.py: 870] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40298481 -0.9636073 -0.19926038] yaw=-53.1deg [env.py: 1019] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=206.0ms [env.py: 1075] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -0.964, -0.199) [env.py: 1079] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 11:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:24 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.440s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.684[m] 83.140[deg] [grasp_sample.py: 539] +05/12 11:49:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:49:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:49:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:49:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:49:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:49:38 INFO: [Worker 0] Object is not in grasp! 0.00171 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:49:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:49:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 374 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:40 INFO: [Worker 0] Feasible grasp found 576 (originally 576): w/ 0.061[m] 23.205[deg] [grasp_sample.py: 539] +05/12 11:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:49:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:49:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:49:41 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:49:41 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=1.48s: + episode_total: mean=67.19s, total=134.38s, count=2, min=2310.0ms, max=132068.8ms + sensor_polling: mean=340.3ms, total=102.09s, count=300, min=292.4ms, max=570.4ms + physics_step: mean=22.6ms, total=6.78s, count=300, min=14.6ms, max=34.2ms + task_sampling: mean=741.3ms, total=1.48s, count=2, min=663.7ms, max=818.9ms + task_specific_sample: mean=738.6ms, total=1.48s, count=2, min=660.6ms, max=816.6ms + scene_randomize: mean=990.8us, total=2.0ms, count=2, min=1.0ms, max=1.0ms + mj_forward_sync: mean=391.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=11.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:49:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117838m [env.py: 870] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40397743 -0.88291874 -0.11783808] yaw=-65.2deg [env.py: 1019] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=496.8ms, total=496.9ms [env.py: 1075] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.883, -0.118) [env.py: 1079] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/12 11:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:43 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:48 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.809[m] 90.606[deg] [grasp_sample.py: 539] +05/12 11:49:49 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:49:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174254m [env.py: 870] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23606972 -1.08999835 -0.17425431] yaw=-41.0deg [env.py: 1019] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=344.9ms, total=344.9ms [env.py: 1075] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.090, -0.174) [env.py: 1079] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg [env.py: 1082] +05/12 11:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:51 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:49:54 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.745[m] 81.722[deg] [grasp_sample.py: 539] +05/12 11:49:55 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:49:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149406m [env.py: 870] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33850964 -0.82561216 -0.1494063 ] yaw=-46.7deg [env.py: 1019] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.2ms, total=290.2ms [env.py: 1075] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -0.826, -0.149) [env.py: 1079] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/12 11:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:49:57 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/12 11:49:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 11:49:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:49:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:49:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:49:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.319s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:49:58 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:49:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:49:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:49:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:49:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:49:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:49:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:49:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115418m [env.py: 870] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:49:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28082892 -1.05287685 -0.11541774] yaw=-49.2deg [env.py: 1019] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:49:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms [env.py: 1075] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -1.053, -0.115) [env.py: 1079] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/12 11:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:50:00 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 11:50:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:50:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:50:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:50:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.621s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:50:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.744[m] 78.365[deg] [grasp_sample.py: 539] +05/12 11:50:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:50:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:50:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:50:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:50:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:28 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:50:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:50:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:50:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 499 non-colliding grasps [grasp_sample.py: 465] +05/12 11:50:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.762s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:50:31 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.084[m] 15.896[deg] [grasp_sample.py: 539] +05/12 11:50:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:50:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:50:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:50:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:50:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:50:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.535s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:50:50 INFO: [Worker 0] Feasible grasp found 328 (originally 328): w/ 0.171[m] 26.869[deg] [grasp_sample.py: 539] +05/12 11:50:51 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:50:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:50:51 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 11:50:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:50:51 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:50:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:50:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169295m [env.py: 870] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.3ms, total=195.4ms [env.py: 1105] +05/12 11:50:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:50:53 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:50:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:50:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:50:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:50:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:50:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:50:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132975m [env.py: 870] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:50:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36971255 -0.85081121 -0.13297528] yaw=-54.5deg [env.py: 1019] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:50:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.8ms, total=200.8ms [env.py: 1075] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -0.851, -0.133) [env.py: 1079] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 11:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:50:54 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 11:50:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:50:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:50:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:50:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.329s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:50:56 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:50:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:50:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:50:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:50:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:50:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:50:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112490m [env.py: 870] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:50:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=363.9ms, total=363.9ms [env.py: 1105] +05/12 11:50:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:50:57 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:50:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:50:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:50:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:50:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133963m [env.py: 870] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53031059 -0.96262031 -0.13396312] yaw=-51.9deg [env.py: 1019] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.6ms, total=254.6ms [env.py: 1075] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.963, -0.134) [env.py: 1079] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 11:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:50:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:50:59 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 11:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:50:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:50:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:50:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:02 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.688[m] 84.674[deg] [grasp_sample.py: 539] +05/12 11:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:03 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:51:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:51:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:51:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:51:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.70s (batch: 3.51s, save: 9.19s) [pipeline.py: 300] +05/12 11:51:04 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.48s: + episode_total: mean=147.80s, total=147.80s, count=1, min=147801.5ms, max=147801.5ms + sensor_polling: mean=354.7ms, total=98.25s, count=277, min=296.7ms, max=632.1ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9191.0ms, max=9191.0ms + physics_step: mean=22.9ms, total=6.34s, count=277, min=14.7ms, max=78.4ms + save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3505.5ms, max=3505.5ms + task_sampling: mean=482.7ms, total=482.7ms, count=1, min=482.7ms, max=482.7ms + task_specific_sample: mean=479.1ms, total=479.1ms, count=1, min=479.1ms, max=479.1ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=415.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:51:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:51:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153367m [env.py: 870] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32090004 -1.0705881 -0.1533665 ] yaw=-44.7deg [env.py: 1019] +05/12 11:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45165953 -1.06577139 -0.1533665 ] yaw=-48.9deg [env.py: 1019] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:51:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=480.0ms, total=480.0ms [env.py: 1075] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -1.071, -0.153) [env.py: 1079] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg [env.py: 1082] +05/12 11:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 11:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:51:05 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 11:51:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 11:51:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:51:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:51:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:51:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143059m [env.py: 870] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.9ms, total=210.9ms [env.py: 1105] +05/12 11:51:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:51:06 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:51:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.305s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.706[m] 81.082[deg] [grasp_sample.py: 539] +05/12 11:51:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:51:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:51:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:51:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172551m [env.py: 870] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:51:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.66993194 -0.97314184 -0.17255068] yaw=-75.1deg [env.py: 1019] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24093774 -1.17136211 -0.17255068] yaw=-35.3deg [env.py: 1019] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53990359 -0.89749515 -0.17255068] yaw=-64.8deg [env.py: 1019] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:51:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.7ms, total=123.8ms [env.py: 1075] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.670, -0.973, -0.173) [env.py: 1079] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg [env.py: 1082] +05/12 11:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:51:07 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 11:51:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 11:51:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:51:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:08 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.664s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:08 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.609[m] 101.628[deg] [grasp_sample.py: 539] +05/12 11:51:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:51:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:51:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:51:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:51:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:51:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190790m [env.py: 870] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:51:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29857439 -1.07874068 -0.19079028] yaw=-50.8deg [env.py: 1019] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:51:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.3ms, total=251.3ms [env.py: 1075] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -1.079, -0.191) [env.py: 1079] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 11:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:51:09 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 11:51:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 11:51:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:51:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.699[m] 94.198[deg] [grasp_sample.py: 539] +05/12 11:51:12 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:51:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:51:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:51:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:51:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191539m [env.py: 870] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:51:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=427.3ms, total=427.3ms [env.py: 1105] +05/12 11:51:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:51:14 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:51:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136871m [env.py: 870] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:51:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56736486 -0.82113022 -0.13687089] yaw=-76.3deg [env.py: 1019] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43425811 -1.03260823 -0.13687089] yaw=-45.0deg [env.py: 1019] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29723656 -1.18000098 -0.13687089] yaw=-34.3deg [env.py: 1019] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.8ms, total=74.8ms [env.py: 1075] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.567, -0.821, -0.137) [env.py: 1079] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg [env.py: 1082] +05/12 11:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:51:15 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 11:51:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:51:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:51:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:51:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:51:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:51:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.368s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:33 INFO: [Worker 0] Feasible grasp found 1224 (originally 560): w/ 0.776[m] 88.633[deg] [grasp_sample.py: 539] +05/12 11:51:34 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:51:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:51:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:51:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:51:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:51:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:51:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159150m [env.py: 870] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:51:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59716896 -0.83109187 -0.15914987] yaw=-67.9deg [env.py: 1019] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:51:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=405.7ms, total=405.7ms [env.py: 1075] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.597, -0.831, -0.159) [env.py: 1079] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.9 deg [env.py: 1082] +05/12 11:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:51:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:51:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:51:35 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 11:51:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 11:51:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:51:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:51:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:51:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.864s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:37 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.719[m] 92.455[deg] [grasp_sample.py: 539] +05/12 11:51:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:51:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:51:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:51:46 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:51:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.142s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:51:48 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.490[m] 75.622[deg] [grasp_sample.py: 539] +05/12 11:51:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:51:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:51:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:51:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:52:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:52:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:06 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:52:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:52:06 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 11:52:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.023s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:52:14 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.489[m] 75.622[deg] [grasp_sample.py: 539] +05/12 11:52:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:52:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:52:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:52:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:52:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.14s (batch: 3.32s, save: 8.82s) [pipeline.py: 300] +05/12 11:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:19 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=2.21s: + episode_total: mean=38.08s, total=152.32s, count=4, min=1962.8ms, max=139408.1ms + sensor_polling: mean=315.9ms, total=89.41s, count=283, min=291.4ms, max=502.4ms + save_trajectories: mean=8.82s, total=8.82s, count=1, min=8821.3ms, max=8821.3ms + physics_step: mean=21.0ms, total=5.93s, count=283, min=14.6ms, max=29.9ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3323.1ms, max=3323.1ms + task_sampling: mean=551.8ms, total=2.21s, count=4, min=394.9ms, max=732.8ms + task_specific_sample: mean=549.0ms, total=2.20s, count=4, min=392.5ms, max=730.5ms + scene_randomize: mean=1.2ms, total=4.8ms, count=4, min=0.9ms, max=1.6ms + mj_forward_sync: mean=422.0us, total=1.7ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=11.6us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:52:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:52:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165812m [env.py: 870] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=184.9ms, total=184.9ms [env.py: 1105] +05/12 11:52:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:52:20 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:52:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:52:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:52:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:52:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:52:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150975m [env.py: 870] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:52:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.52026285 -1.01676097 -0.15097544] yaw=-65.9deg [env.py: 1019] +05/12 11:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41068602 -0.96434356 -0.15097544] yaw=-56.3deg [env.py: 1019] +05/12 11:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:52:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=540.4ms, total=540.5ms [env.py: 1075] +05/12 11:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -1.017, -0.151) [env.py: 1079] +05/12 11:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/12 11:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 11:52:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:52:22 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 11:52:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 11:52:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.333s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:52:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.646[m] 81.297[deg] [grasp_sample.py: 539] +05/12 11:52:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:52:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:52:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:52:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:52:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:52:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 502 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.243s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:52:39 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.489[m] 75.622[deg] [grasp_sample.py: 539] +05/12 11:52:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:52:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.565s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:52:42 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.049[m] 14.691[deg] [grasp_sample.py: 539] +05/12 11:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:52:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:52:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:52:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:52:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 429 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.533s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:52:49 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.070[m] 23.356[deg] [grasp_sample.py: 539] +05/12 11:52:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:52:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:52:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.638s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:52:50 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.476[m] 56.822[deg] [grasp_sample.py: 539] +05/12 11:52:51 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 11:52:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 11:52:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 11:52:51 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:52:51 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.37s: + episode_total: mean=52.35s, total=104.71s, count=2, min=223.2ms, max=104485.1ms + sensor_polling: mean=333.5ms, total=23.01s, count=69, min=300.0ms, max=561.5ms + physics_step: mean=18.3ms, total=1.26s, count=69, min=12.9ms, max=41.8ms + task_specific_sample: mean=292.0ms, total=584.0ms, count=2, min=218.2ms, max=365.8ms + task_sampling: mean=368.2ms, total=368.2ms, count=1, min=368.2ms, max=368.2ms + task_sampling_failed: mean=223.2ms, total=223.2ms, count=1, min=223.2ms, max=223.2ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=446.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:52:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:52:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:52:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:52:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:52:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:52:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111452m [env.py: 870] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:52:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31141567 -1.24114573 -0.11145231] yaw=-35.3deg [env.py: 1019] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58291939 -0.90506329 -0.11145231] yaw=-73.1deg [env.py: 1019] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.3ms [env.py: 1075] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.311, -1.241, -0.111) [env.py: 1079] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg [env.py: 1082] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:52:53 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 11:52:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:52:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:52:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:52:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:52:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:52:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148672m [env.py: 870] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:52:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61263771 -0.88948608 -0.14867207] yaw=-62.6deg [env.py: 1019] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=453.1ms, total=453.1ms [env.py: 1075] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.613, -0.889, -0.149) [env.py: 1079] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.6 deg [env.py: 1082] +05/12 11:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:52:54 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 11:52:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 11:52:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:52:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:52:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:52:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:52:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.868s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:52:56 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.667[m] 93.110[deg] [grasp_sample.py: 539] +05/12 11:52:57 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:52:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:52:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:52:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:52:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158316m [env.py: 870] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=180.6ms, total=180.6ms [env.py: 1105] +05/12 11:52:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:52:58 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:52:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:52:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:52:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:52:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:52:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:52:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:52:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:52:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:52:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151681m [env.py: 870] +05/12 11:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:52:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:52:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45984417 -0.85948927 -0.15168143] yaw=-68.3deg [env.py: 1019] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39676531 -1.08841056 -0.15168143] yaw=-51.7deg [env.py: 1019] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=579.7ms, total=579.7ms [env.py: 1075] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -0.859, -0.152) [env.py: 1079] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/12 11:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 11:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:53:00 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 11:53:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:53:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:53:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:53:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:53:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:53:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.080s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:53:05 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.745[m] 74.306[deg] [grasp_sample.py: 539] +05/12 11:53:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:06 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:53:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:53:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:53:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:53:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:53:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:53:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:53:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191791m [env.py: 870] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:53:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=434.3ms, total=434.4ms [env.py: 1105] +05/12 11:53:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:53:08 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:53:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:53:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:53:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:53:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:53:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:53:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151096m [env.py: 870] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:53:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48492577 -1.07110843 -0.15109589] yaw=-59.7deg [env.py: 1019] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:53:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.3ms, total=252.4ms [env.py: 1075] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -1.071, -0.151) [env.py: 1079] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/12 11:53:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:53:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:53:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:53:09 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 11:53:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:53:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:53:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:53:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:53:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.619s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:53:10 INFO: [Worker 0] Feasible grasp found 461 (originally 461): w/ 0.739[m] 86.769[deg] [grasp_sample.py: 539] +05/12 11:53:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:53:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:53:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.675s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:53:11 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.664[m] 84.402[deg] [grasp_sample.py: 539] +05/12 11:53:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:53:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:53:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:53:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:53:46 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 11:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 11:54:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:54:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:54:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 11:54:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:54:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:54:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:54:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:54:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.52s (batch: 3.10s, save: 9.42s) [pipeline.py: 300] +05/12 11:54:21 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=5.73s: + episode_total: mean=18.85s, total=301.53s, count=16, min=204.0ms, max=166371.6ms + sensor_polling: mean=353.0ms, total=159.56s, count=452, min=303.5ms, max=667.6ms + physics_step: mean=21.0ms, total=9.51s, count=452, min=14.3ms, max=56.9ms + save_trajectories: mean=9.42s, total=9.42s, count=1, min=9420.1ms, max=9420.1ms + task_specific_sample: mean=447.3ms, total=7.16s, count=16, min=200.3ms, max=730.9ms + task_sampling: mean=477.4ms, total=5.73s, count=12, min=279.6ms, max=733.5ms + save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3099.4ms, max=3099.4ms + task_sampling_failed: mean=368.1ms, total=1.47s, count=4, min=204.0ms, max=460.9ms + scene_randomize: mean=1.1ms, total=18.4ms, count=16, min=0.9ms, max=2.6ms + mj_forward_sync: mean=421.3us, total=6.7ms, count=16, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.2ms, count=12, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=16, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:54:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:54:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:54:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:54:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:54:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:54:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:54:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131583m [env.py: 870] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:54:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47003875 -1.02676111 -0.13158344] yaw=-60.1deg [env.py: 1019] +05/12 11:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:54:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/12 11:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -1.027, -0.132) [env.py: 1079] +05/12 11:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg [env.py: 1082] +05/12 11:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/12 11:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:54:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:54:23 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 11:54:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 11:54:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:54:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:54:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:54:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:54:27 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.711[m] 86.114[deg] [grasp_sample.py: 539] +05/12 11:54:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:54:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:54:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:54:59 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:55:04 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:55:19 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:55:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 11:55:19 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 11:55:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:55:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:55:24 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 11:55:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:55:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:55:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.00s (batch: 3.32s, save: 8.68s) [pipeline.py: 300] +05/12 11:55:31 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.97s: + episode_total: mean=37.31s, total=186.56s, count=5, min=188.7ms, max=151885.7ms + sensor_polling: mean=319.9ms, total=104.94s, count=328, min=289.0ms, max=549.2ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8675.8ms, max=8675.8ms + physics_step: mean=21.1ms, total=6.92s, count=328, min=14.4ms, max=29.3ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3319.5ms, max=3319.5ms + task_specific_sample: mean=466.9ms, total=2.33s, count=5, min=185.3ms, max=816.4ms + task_sampling: mean=655.2ms, total=1.97s, count=3, min=360.1ms, max=818.5ms + task_sampling_failed: mean=192.6ms, total=385.2ms, count=2, min=188.7ms, max=196.6ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=2.6ms + mj_forward_sync: mean=383.3us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:55:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:55:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:55:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:55:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:55:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:55:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:55:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190692m [env.py: 870] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:55:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14459378 -1.08701386 -0.19069204] yaw=-38.2deg [env.py: 1019] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:55:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.2ms [env.py: 1075] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.087, -0.191) [env.py: 1079] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/12 11:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:55:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:55:33 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 11:55:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 11:55:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:55:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:55:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:55:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.471s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:55:35 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.742[m] 79.524[deg] [grasp_sample.py: 539] +05/12 11:55:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:55:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:55:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:55:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:55:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:55:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:55:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.82s (batch: 4.19s, save: 10.63s) [pipeline.py: 300] +05/12 11:55:39 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.25s: + episode_total: mean=54.61s, total=163.84s, count=3, min=442.7ms, max=150305.7ms + sensor_polling: mean=355.6ms, total=95.65s, count=269, min=300.8ms, max=597.9ms + save_trajectories: mean=10.63s, total=10.63s, count=1, min=10634.0ms, max=10634.0ms + physics_step: mean=22.6ms, total=6.09s, count=269, min=14.7ms, max=32.9ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.5ms, max=4188.5ms + task_specific_sample: mean=560.2ms, total=1.68s, count=3, min=439.0ms, max=744.3ms + task_sampling: mean=623.1ms, total=1.25s, count=2, min=499.3ms, max=746.9ms + task_sampling_failed: mean=442.7ms, total=442.7ms, count=1, min=442.7ms, max=442.7ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=1.0ms, max=1.3ms + mj_forward_sync: mean=403.6us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:55:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:55:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:55:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:55:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:55:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:55:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:55:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176758m [env.py: 870] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:55:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=450.2ms, total=450.2ms [env.py: 1105] +05/12 11:55:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:55:41 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:55:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:55:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:55:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:55:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:55:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:55:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:55:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173894m [env.py: 870] +05/12 11:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:55:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42677439 -1.00449067 -0.1738936 ] yaw=-62.3deg [env.py: 1019] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49317441 -0.81631759 -0.1738936 ] yaw=-58.7deg [env.py: 1019] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:55:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=555.1ms, total=555.2ms [env.py: 1075] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.004, -0.174) [env.py: 1079] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg [env.py: 1082] +05/12 11:55:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:55:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:55:43 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 11:55:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 11:55:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:55:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:55:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:55:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.858s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:55:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 97.990[deg] [grasp_sample.py: 539] +05/12 11:55:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:55:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:55:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:50 INFO: [Worker 0] Object is not in grasp! 0.00197 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:55:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:55:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:55:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:55:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 407 non-colliding grasps [grasp_sample.py: 465] +05/12 11:55:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.348s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:55:51 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.051[m] 1.661[deg] [grasp_sample.py: 539] +05/12 11:55:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:55:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:55:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:55:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:56:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:12 INFO: [Worker 0] Object is not in grasp! 0.00094 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:56:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:56:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:56:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:56:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 390 non-colliding grasps [grasp_sample.py: 465] +05/12 11:56:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.360s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:56:13 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.134[m] 3.635[deg] [grasp_sample.py: 539] +05/12 11:56:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:56:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:56:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:56:33 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:56:33 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=False episode_total=0.45s: + episode_total: mean=130.66s, total=130.66s, count=1, min=130659.8ms, max=130659.8ms + sensor_polling: mean=363.2ms, total=108.97s, count=300, min=311.9ms, max=856.6ms + physics_step: mean=21.6ms, total=6.48s, count=300, min=14.5ms, max=32.3ms + task_sampling: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms + task_specific_sample: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=421.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:56:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:56:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:56:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:56:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:56:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:56:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:56:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120956m [env.py: 870] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:56:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.4ms, total=192.4ms [env.py: 1105] +05/12 11:56:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:56:34 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:56:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:56:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138766m [env.py: 870] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34531474 -1.12088584 -0.13876648] yaw=-43.1deg [env.py: 1019] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.4ms [env.py: 1075] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.121, -0.139) [env.py: 1079] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.1 deg [env.py: 1082] +05/12 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:56:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:56:36 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 11:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 11:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:56:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:56:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:56:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.371s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:56:38 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.682[m] 93.354[deg] [grasp_sample.py: 539] +05/12 11:56:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:56:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:56:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:56:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:56:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:56:48 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:56:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:56:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:56:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:56:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:56:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:56:50 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.348[m] 19.733[deg] [grasp_sample.py: 539] +05/12 11:56:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:56:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:56:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:56:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:57:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:24 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:57:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:57:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:57:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:57:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:57:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.323s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:57:25 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.082[m] 8.387[deg] [grasp_sample.py: 539] +05/12 11:57:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:57:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:57:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:29 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:57:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:35 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:57:35 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=False episode_total=0.44s: + episode_total: mean=122.21s, total=122.21s, count=1, min=122213.1ms, max=122213.1ms + sensor_polling: mean=359.1ms, total=107.72s, count=300, min=292.0ms, max=548.4ms + physics_step: mean=22.3ms, total=6.70s, count=300, min=14.2ms, max=54.5ms + task_sampling: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms + task_specific_sample: mean=441.0ms, total=441.0ms, count=1, min=441.0ms, max=441.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=361.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:57:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:57:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:57:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:57:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:57:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:57:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:57:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150244m [env.py: 870] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:57:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61148391 -0.85909272 -0.15024437] yaw=-70.8deg [env.py: 1019] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.2ms, total=205.2ms [env.py: 1075] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.859, -0.150) [env.py: 1079] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg [env.py: 1082] +05/12 11:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:57:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:57:37 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 11:57:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 11:57:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:57:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:57:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:57:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.662s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:57:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.703[m] 81.104[deg] [grasp_sample.py: 539] +05/12 11:57:39 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:57:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:57:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:57:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:57:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:57:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:57:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:57:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:57:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:57:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115369m [env.py: 870] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:57:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.0ms, total=199.0ms [env.py: 1105] +05/12 11:57:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:57:41 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:57:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:57:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:57:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:57:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:57:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:57:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:57:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:57:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:57:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186921m [env.py: 870] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:57:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.56060154 -1.00909828 -0.18692095] yaw=-51.6deg [env.py: 1019] +05/12 11:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:57:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.4ms, total=192.5ms [env.py: 1075] +05/12 11:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -1.009, -0.187) [env.py: 1079] +05/12 11:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg [env.py: 1082] +05/12 11:57:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/12 11:57:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:57:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:57:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:57:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:57:43 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 11:57:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:57:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:57:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:57:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:57:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.610s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:57:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.584[m] 80.602[deg] [grasp_sample.py: 539] +05/12 11:57:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:57:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:57:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:57:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:57:49 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:57:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 11:57:49 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 11:57:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:57:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:58:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:58:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.50s (batch: 4.02s, save: 11.49s) [pipeline.py: 300] +05/12 11:58:05 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.79s: + episode_total: mean=71.45s, total=142.91s, count=2, min=462.4ms, max=142447.2ms + sensor_polling: mean=315.3ms, total=86.39s, count=274, min=290.4ms, max=526.9ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11485.3ms, max=11485.3ms + physics_step: mean=20.8ms, total=5.70s, count=274, min=14.6ms, max=29.6ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4015.7ms, max=4015.7ms + task_specific_sample: mean=620.8ms, total=1.24s, count=2, min=455.9ms, max=785.8ms + task_sampling: mean=788.1ms, total=788.1ms, count=1, min=788.1ms, max=788.1ms + task_sampling_failed: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=0.9ms, max=2.4ms + mj_forward_sync: mean=369.0us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:58:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:58:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:58:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:58:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172341m [env.py: 870] +05/12 11:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:58:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37099067 -1.08726351 -0.17234147] yaw=-57.8deg [env.py: 1019] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:58:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=418.3ms, total=418.4ms [env.py: 1075] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.371, -1.087, -0.172) [env.py: 1079] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/12 11:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 11:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:58:07 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/12 11:58:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 11:58:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:58:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.444s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:09 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.640[m] 92.245[deg] [grasp_sample.py: 539] +05/12 11:58:10 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:58:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:58:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:58:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:58:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195816m [env.py: 870] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:58:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59833613 -0.81661483 -0.19581596] yaw=-75.7deg [env.py: 1019] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:58:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.9ms, total=170.9ms [env.py: 1075] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.817, -0.196) [env.py: 1079] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/12 11:58:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:58:11 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 11:58:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:58:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:58:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.141s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:21 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.737[m] 100.980[deg] [grasp_sample.py: 539] +05/12 11:58:23 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:58:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:58:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:58:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:58:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139823m [env.py: 870] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:58:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=200.1ms, total=200.2ms [env.py: 1105] +05/12 11:58:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:58:24 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:58:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:58:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:58:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:58:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142025m [env.py: 870] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:58:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21595809 -1.07382043 -0.14202541] yaw=-48.9deg [env.py: 1019] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46725663 -1.07291175 -0.14202541] yaw=-62.8deg [env.py: 1019] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:58:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.3ms [env.py: 1075] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.074, -0.142) [env.py: 1079] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 11:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:58:26 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 11:58:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:58:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:58:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.551s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:30 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.726[m] 81.359[deg] [grasp_sample.py: 539] +05/12 11:58:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:58:31 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:58:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:58:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:58:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:58:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152625m [env.py: 870] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:58:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23659968 -1.00191388 -0.15262476] yaw=-34.6deg [env.py: 1019] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:58:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.7ms [env.py: 1075] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.002, -0.153) [env.py: 1079] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg [env.py: 1082] +05/12 11:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:58:33 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 11:58:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 11:58:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:58:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.555s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:39 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 11:58:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:58:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:58:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:58:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:58:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:58:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109106m [env.py: 870] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:58:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31894674 -1.0820145 -0.10910634] yaw=-54.7deg [env.py: 1019] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37639259 -0.82589249 -0.10910634] yaw=-50.8deg [env.py: 1019] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:58:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.6ms, total=204.6ms [env.py: 1075] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.082, -0.109) [env.py: 1079] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg [env.py: 1082] +05/12 11:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:58:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:58:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:58:40 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 11:58:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 11:58:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:58:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:42 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 11:58:47 INFO: [Worker 0] Object is not in grasp! 0.00120 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:58:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:58:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:58:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:58:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.204s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.724[m] 86.983[deg] [grasp_sample.py: 539] +05/12 11:58:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 378 non-colliding grasps [grasp_sample.py: 465] +05/12 11:58:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:58:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.424s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:58:47 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.599[deg] [grasp_sample.py: 539] +05/12 11:58:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:58:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:58:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:58:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:58:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:58:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:59:00 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:59:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:59:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.318s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:59:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.053[m] 0.255[deg] [grasp_sample.py: 539] +05/12 11:59:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:59:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:59:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 11:59:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 11:59:02 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 11:59:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:59:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 11:59:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 11:59:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 334 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.428s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:59:15 INFO: [Worker 0] Feasible grasp found 663 (originally 663): w/ 0.041[m] 4.969[deg] [grasp_sample.py: 539] +05/12 11:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:59:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:59:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 11:59:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 11:59:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.85s (batch: 3.88s, save: 10.97s) [pipeline.py: 300] +05/12 11:59:18 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.44s: + episode_total: mean=80.95s, total=161.91s, count=2, min=202.5ms, max=161705.8ms + sensor_polling: mean=420.6ms, total=114.81s, count=273, min=310.0ms, max=798.4ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10970.9ms, max=10970.9ms + physics_step: mean=24.6ms, total=6.70s, count=273, min=14.6ms, max=34.0ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3879.0ms, max=3879.0ms + task_specific_sample: mean=316.7ms, total=633.4ms, count=2, min=197.3ms, max=436.0ms + task_sampling: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms + task_sampling_failed: mean=202.5ms, total=202.5ms, count=1, min=202.5ms, max=202.5ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.9ms, max=1.3ms + mj_forward_sync: mean=393.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:59:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192325m [env.py: 870] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20756607 -1.17344726 -0.19232506] yaw=-43.7deg [env.py: 1019] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37700805 -0.95190009 -0.19232506] yaw=-59.1deg [env.py: 1019] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=490.2ms, total=490.3ms [env.py: 1075] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.173, -0.192) [env.py: 1079] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 11:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:20 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.413s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:59:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.706[m] 92.979[deg] [grasp_sample.py: 539] +05/12 11:59:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 11:59:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 11:59:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 11:59:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:59:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 11:59:31 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 11:59:31 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=False episode_total=0.87s: + episode_total: mean=37.38s, total=112.13s, count=3, min=208.6ms, max=108538.8ms + sensor_polling: mean=317.8ms, total=95.33s, count=300, min=292.9ms, max=476.1ms + physics_step: mean=21.3ms, total=6.38s, count=300, min=14.7ms, max=36.1ms + task_specific_sample: mean=355.5ms, total=1.07s, count=3, min=203.7ms, max=457.9ms + task_sampling: mean=434.1ms, total=868.2ms, count=2, min=407.2ms, max=461.0ms + task_sampling_failed: mean=208.6ms, total=208.6ms, count=1, min=208.6ms, max=208.6ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=1.0ms, max=1.1ms + mj_forward_sync: mean=429.6us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 11:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 11:59:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125901m [env.py: 870] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.8ms, total=211.9ms [env.py: 1105] +05/12 11:59:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:59:32 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 11:59:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129800m [env.py: 870] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5283091 -0.95683055 -0.12979997] yaw=-70.3deg [env.py: 1019] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30565237 -0.96386351 -0.12979997] yaw=-48.2deg [env.py: 1019] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.3ms, total=216.3ms [env.py: 1075] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.957, -0.130) [env.py: 1079] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg [env.py: 1082] +05/12 11:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:34 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 11:59:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.991s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:59:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.687[m] 86.560[deg] [grasp_sample.py: 539] +05/12 11:59:37 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:59:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127172m [env.py: 870] +05/12 11:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38321358 -0.81816834 -0.12717235] yaw=-56.6deg [env.py: 1019] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=385.1ms, total=385.2ms [env.py: 1075] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.818, -0.127) [env.py: 1079] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg [env.py: 1082] +05/12 11:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 11:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:39 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.337s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:59:41 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:59:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169864m [env.py: 870] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08762983 -1.06340637 -0.16986445] yaw=-42.8deg [env.py: 1019] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=412.3ms, total=412.3ms [env.py: 1075] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.088, -1.063, -0.170) [env.py: 1079] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg [env.py: 1082] +05/12 11:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:42 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.255s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:59:44 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125827m [env.py: 870] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=321.9ms, total=322.0ms [env.py: 1105] +05/12 11:59:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:59:46 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:59:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108451m [env.py: 870] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23908338 -0.99643581 -0.1084506 ] yaw=-44.1deg [env.py: 1019] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53745678 -0.94487473 -0.1084506 ] yaw=-55.5deg [env.py: 1019] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=364.6ms, total=364.6ms [env.py: 1075] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.239, -0.996, -0.108) [env.py: 1079] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/12 11:59:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:47 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.318s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:59:49 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:59:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110097m [env.py: 870] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=446.5ms, total=446.5ms [env.py: 1105] +05/12 11:59:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 11:59:50 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 11:59:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157487m [env.py: 870] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36745494 -1.13100633 -0.15748721] yaw=-35.2deg [env.py: 1019] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.4ms [env.py: 1075] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -1.131, -0.157) [env.py: 1079] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg [env.py: 1082] +05/12 11:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:52 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.672s, found feasible grasp: True [grasp_sample.py: 500] +05/12 11:59:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.682[m] 86.419[deg] [grasp_sample.py: 539] +05/12 11:59:54 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 11:59:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 11:59:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116519m [env.py: 870] +05/12 11:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51454997 -0.74743027 -0.1165187 ] yaw=-60.0deg [env.py: 1019] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=392.1ms, total=392.1ms [env.py: 1075] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -0.747, -0.117) [env.py: 1079] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/12 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:56 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 11:59:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 11:59:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.351s, found feasible grasp: False [grasp_sample.py: 500] +05/12 11:59:57 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 11:59:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 11:59:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 11:59:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 11:59:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 11:59:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 11:59:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128114m [env.py: 870] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 11:59:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33799008 -0.83329675 -0.12811424] yaw=-56.2deg [env.py: 1019] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 11:59:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=466.4ms, total=466.4ms [env.py: 1075] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -0.833, -0.128) [env.py: 1079] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 11:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 11:59:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 11:59:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 11:59:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 11:59:59 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 11:59:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 11:59:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 11:59:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:00:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:00:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:00:01 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:00:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:00:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:00:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:00:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:00:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:00:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:00:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101756m [env.py: 870] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:00:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48370342 -1.01978707 -0.10175573] yaw=-64.3deg [env.py: 1019] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:00:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=318.5ms, total=318.5ms [env.py: 1075] +05/12 12:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -1.020, -0.102) [env.py: 1079] +05/12 12:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg [env.py: 1082] +05/12 12:00:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/12 12:00:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:00:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:00:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:00:03 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 12:00:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:00:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:00:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:00:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:00:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.549s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:00:05 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.710[m] 89.701[deg] [grasp_sample.py: 539] +05/12 12:00:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:00:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:00:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:00:11 INFO: [Worker 0] Object is not in grasp! 0.00088 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:00:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:00:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:00:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 352 non-colliding grasps [grasp_sample.py: 465] +05/12 12:00:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:00:13 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.059[m] 8.592[deg] [grasp_sample.py: 539] +05/12 12:00:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:00:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:00:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:00:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:00:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:38 INFO: [Worker 0] Object is not in grasp! 0.00154 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:00:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:00:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:00:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:00:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 12:00:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.340s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:00:39 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.064[m] 10.755[deg] [grasp_sample.py: 539] +05/12 12:00:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:00:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:00:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:00:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:00:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:01:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:01:01 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:01:01 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=False episode_total=2.25s: + episode_total: mean=28.16s, total=168.95s, count=6, min=208.3ms, max=141334.4ms + sensor_polling: mean=377.7ms, total=113.32s, count=300, min=299.8ms, max=728.4ms + physics_step: mean=24.2ms, total=7.26s, count=300, min=14.6ms, max=64.6ms + task_specific_sample: mean=407.0ms, total=2.44s, count=6, min=205.2ms, max=661.9ms + task_sampling: mean=450.2ms, total=2.25s, count=5, min=350.6ms, max=666.1ms + task_sampling_failed: mean=208.3ms, total=208.3ms, count=1, min=208.3ms, max=208.3ms + scene_randomize: mean=1.3ms, total=7.9ms, count=6, min=1.0ms, max=2.8ms + mj_forward_sync: mean=482.7us, total=2.9ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=12.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:01:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:01:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:01:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:01:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:01:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:01:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124100m [env.py: 870] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:01:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=282.5ms, total=282.6ms [env.py: 1105] +05/12 12:01:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:01:03 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:01:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:01:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:01:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:01:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:01:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:01:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:01:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110061m [env.py: 870] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:01:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49449838 -0.96620344 -0.11006123] yaw=-54.3deg [env.py: 1019] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3604021 -1.16171814 -0.11006123] yaw=-40.4deg [env.py: 1019] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:01:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.7ms, total=282.7ms [env.py: 1075] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.966, -0.110) [env.py: 1079] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 12:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 12:01:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:01:05 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 12:01:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 12:01:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:01:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:01:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:01:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:01:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.282s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:01:07 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.703[m] 93.715[deg] [grasp_sample.py: 539] +05/12 12:01:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:01:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:01:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:01:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:01:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:01:24 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:01:44 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 12:01:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:01:44 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 12:01:51 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:01:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:01:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 12:01:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.26s (batch: 3.31s, save: 8.95s) [pipeline.py: 300] +05/12 12:01:57 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.75s: + episode_total: mean=158.23s, total=158.23s, count=1, min=158232.3ms, max=158232.3ms + sensor_polling: mean=411.1ms, total=113.86s, count=277, min=317.4ms, max=671.8ms + save_trajectories: mean=8.95s, total=8.95s, count=1, min=8947.1ms, max=8947.1ms + physics_step: mean=23.9ms, total=6.62s, count=277, min=15.1ms, max=131.5ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3314.9ms, max=3314.9ms + task_sampling: mean=749.6ms, total=749.6ms, count=1, min=749.6ms, max=749.6ms + task_specific_sample: mean=745.8ms, total=745.8ms, count=1, min=745.8ms, max=745.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=616.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:01:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:01:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:01:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:01:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:01:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:01:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:01:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:01:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:01:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155025m [env.py: 870] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:01:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:01:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.1ms, total=224.2ms [env.py: 1105] +05/12 12:01:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:01:59 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:02:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:02:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:02:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:02:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175731m [env.py: 870] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:02:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=169.9ms, total=169.9ms [env.py: 1105] +05/12 12:02:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:02:00 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:02:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:02:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:02:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:02:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121419m [env.py: 870] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:02:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=162.9ms, total=163.0ms [env.py: 1105] +05/12 12:02:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:02:01 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:02:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:02:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:02:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:02:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190320m [env.py: 870] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:02:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=229.4ms, total=229.5ms [env.py: 1105] +05/12 12:02:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:02:03 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:02:04 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 12:02:04 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 12:02:04 INFO: [Worker 0] Worker 0 completed house 1: 13/16 successful episodes [pipeline.py: 1323] +05/12 12:02:04 INFO: [Worker 0] [PROFILE] House 1 complete: 13/16 successful, 16 episodes, total_time=4683.09s + House averages: + episode_total: mean=36.62s, total=2636.59s, count=72, min=170.7ms, max=169952.4ms + sensor_polling: mean=392.1ms, total=1704.93s, count=4348, min=303.5ms, max=856.6ms + save_trajectories: mean=9.54s, total=124.08s, count=13, min=8680.1ms, max=10970.9ms + physics_step: mean=23.1ms, total=100.31s, count=4348, min=13.1ms, max=132.3ms + save_batch_prep: mean=3.49s, total=45.39s, count=13, min=3099.4ms, max=3963.4ms + task_specific_sample: mean=422.7ms, total=30.44s, count=72, min=168.2ms, max=829.8ms + task_sampling: mean=576.9ms, total=26.54s, count=46, min=279.6ms, max=3754.9ms + task_sampling_failed: mean=276.8ms, total=7.20s, count=26, min=170.6ms, max=537.1ms + scene_load: mean=3.07s, total=3.07s, count=1, min=3070.5ms, max=3070.5ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1666.4ms, max=1666.4ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.5ms, max=1247.5ms + compile_mujoco: mean=639.7ms, total=639.7ms, count=1, min=639.7ms, max=639.7ms + compile_xml_load: mean=527.2ms, total=527.2ms, count=1, min=527.2ms, max=527.2ms + scene_init: mean=102.5ms, total=102.5ms, count=1, min=102.5ms, max=102.5ms + scene_randomize: mean=1.3ms, total=96.6ms, count=72, min=0.9ms, max=2.8ms + scene_asset_install: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms + mj_forward_sync: mean=436.2us, total=31.4ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=22.2ms, total=22.2ms, count=1, min=22.2ms, max=22.2ms + asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=16.5us, total=0.8ms, count=46, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:02:04 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:02:04 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=4683.09s + Worker averages: + episode_total: mean=36.62s, total=2636.59s, count=72, min=170.7ms, max=169952.4ms + sensor_polling: mean=392.1ms, total=1704.93s, count=4348, min=303.5ms, max=856.6ms + save_trajectories: mean=9.54s, total=124.08s, count=13, min=8680.1ms, max=10970.9ms + physics_step: mean=23.1ms, total=100.31s, count=4348, min=13.1ms, max=132.3ms + save_batch_prep: mean=3.49s, total=45.39s, count=13, min=3099.4ms, max=3963.4ms + task_specific_sample: mean=422.7ms, total=30.44s, count=72, min=168.2ms, max=829.8ms + task_sampling: mean=576.9ms, total=26.54s, count=46, min=279.6ms, max=3754.9ms + task_sampling_failed: mean=276.8ms, total=7.20s, count=26, min=170.6ms, max=537.1ms + scene_load: mean=3.07s, total=3.07s, count=1, min=3070.5ms, max=3070.5ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1666.4ms, max=1666.4ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1247.5ms, max=1247.5ms + compile_mujoco: mean=639.7ms, total=639.7ms, count=1, min=639.7ms, max=639.7ms + compile_xml_load: mean=527.2ms, total=527.2ms, count=1, min=527.2ms, max=527.2ms + scene_init: mean=102.5ms, total=102.5ms, count=1, min=102.5ms, max=102.5ms + scene_randomize: mean=1.3ms, total=96.6ms, count=72, min=0.9ms, max=2.8ms + scene_asset_install: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms + mj_forward_sync: mean=436.2us, total=31.4ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=22.2ms, total=22.2ms, count=1, min=22.2ms, max=22.2ms + asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=16.5us, total=0.8ms, count=46, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:02:06 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:02:06 INFO: Success count: 13, Total count: 16 [pipeline.py: 1491] +05/12 12:02:06 INFO: Success rate: 81.25% [pipeline.py: 1492] +05/12 12:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:11 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 12:02:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:02:11 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 12:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:02:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:02:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:02:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.495s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:02:19 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.094[m] 8.943[deg] [grasp_sample.py: 539] +05/12 12:02:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:02:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:02:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:02:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 12:02:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 12.08s (batch: 3.43s, save: 8.65s) [pipeline.py: 300] +05/12 12:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:24 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=4.51s: + episode_total: mean=14.45s, total=158.94s, count=11, min=222.3ms, max=141498.6ms + sensor_polling: mean=320.9ms, total=88.90s, count=277, min=290.0ms, max=538.9ms + save_trajectories: mean=8.65s, total=8.65s, count=1, min=8649.7ms, max=8649.7ms + physics_step: mean=21.6ms, total=5.98s, count=277, min=14.5ms, max=33.1ms + task_specific_sample: mean=498.8ms, total=5.49s, count=11, min=216.9ms, max=687.4ms + task_sampling: mean=563.9ms, total=4.51s, count=8, min=436.9ms, max=689.5ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3426.5ms, max=3426.5ms + task_sampling_failed: mean=336.2ms, total=1.01s, count=3, min=222.3ms, max=454.1ms + scene_randomize: mean=1.2ms, total=12.7ms, count=11, min=0.9ms, max=1.6ms + mj_forward_sync: mean=450.5us, total=5.0ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=13.1us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:02:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:02:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:02:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:02:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136437m [env.py: 870] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:02:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.63511985 -0.82987733 -0.13643699] yaw=-77.2deg [env.py: 1019] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:02:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.5ms, total=180.6ms [env.py: 1075] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.635, -0.830, -0.136) [env.py: 1079] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.2 deg [env.py: 1082] +05/12 12:02:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:02:25 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 12:02:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 12:02:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:02:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:02:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:02:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.016s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:02:30 INFO: [Worker 0] Feasible grasp found 528 (originally 528): w/ 0.268[m] 22.455[deg] [grasp_sample.py: 539] +05/12 12:02:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.305s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:02:31 INFO: [Worker 0] Feasible grasp found 671 (originally 7): w/ 0.711[m] 88.553[deg] [grasp_sample.py: 539] +05/12 12:02:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:02:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:02:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:31 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:02:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:02:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:02:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:02:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112155m [env.py: 870] +05/12 12:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:02:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16741079 -0.97804118 -0.1121545 ] yaw=-49.4deg [env.py: 1019] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25035991 -1.13523705 -0.1121545 ] yaw=-43.1deg [env.py: 1019] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:02:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=773.4ms, total=773.4ms [env.py: 1075] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -0.978, -0.112) [env.py: 1079] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/12 12:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/12 12:02:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:02:33 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 12:02:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:02:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:02:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.705s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:02:35 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:02:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:02:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:02:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:02:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172487m [env.py: 870] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:02:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=661.1ms, total=661.2ms [env.py: 1105] +05/12 12:02:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:02:37 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:02:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:02:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:02:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:02:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:02:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:02:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180838m [env.py: 870] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:02:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34823756 -0.89516136 -0.18083792] yaw=-57.2deg [env.py: 1019] +05/12 12:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:02:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms [env.py: 1075] +05/12 12:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -0.895, -0.181) [env.py: 1079] +05/12 12:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg [env.py: 1082] +05/12 12:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/12 12:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:02:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:02:39 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 12:02:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 12:02:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:02:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.611s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:02:43 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.761[m] 86.628[deg] [grasp_sample.py: 539] +05/12 12:02:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:02:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:02:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:02:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:02:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:02:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:02:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:02:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:02:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:02:57 INFO: [Worker 0] Feasible grasp found 887 (originally 223): w/ 0.556[m] 63.124[deg] [grasp_sample.py: 539] +05/12 12:02:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:02:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:02:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:03:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:03:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:03:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:03:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:03:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.348s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:03:11 INFO: [Worker 0] Feasible grasp found 671 (originally 7): w/ 0.558[m] 63.486[deg] [grasp_sample.py: 539] +05/12 12:03:12 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:03:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:03:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:03:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:03:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:03:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:03:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:03:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147356m [env.py: 870] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:03:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:03:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.9ms, total=192.0ms [env.py: 1105] +05/12 12:03:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:03:13 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:03:14 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 12:03:14 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 12:03:14 INFO: [Worker 0] Worker 0 completed house 1: 13/18 successful episodes [pipeline.py: 1323] +05/12 12:03:14 INFO: [Worker 0] [PROFILE] House 1 complete: 13/18 successful, 18 episodes, total_time=4736.28s + House averages: + episode_total: mean=37.60s, total=2707.24s, count=72, min=181.8ms, max=151885.7ms + sensor_polling: mean=336.5ms, total=1683.27s, count=5003, min=289.0ms, max=804.3ms + save_trajectories: mean=9.15s, total=118.94s, count=13, min=8376.9ms, max=9739.7ms + physics_step: mean=21.9ms, total=109.67s, count=5003, min=12.8ms, max=110.3ms + save_batch_prep: mean=3.50s, total=45.56s, count=13, min=3214.3ms, max=3904.4ms + task_specific_sample: mean=432.8ms, total=31.16s, count=72, min=178.6ms, max=816.6ms + task_sampling: mean=514.3ms, total=24.69s, count=48, min=338.3ms, max=818.9ms + task_sampling_failed: mean=388.6ms, total=9.33s, count=24, min=181.8ms, max=2899.5ms + scene_load: mean=2.62s, total=2.62s, count=1, min=2619.0ms, max=2619.0ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1479.3ms, max=1479.3ms + scene_compile: mean=935.5ms, total=935.5ms, count=1, min=935.5ms, max=935.5ms + compile_mujoco: mean=545.0ms, total=545.0ms, count=1, min=545.0ms, max=545.0ms + compile_xml_load: mean=323.6ms, total=323.6ms, count=1, min=323.6ms, max=323.6ms + scene_init: mean=112.0ms, total=112.0ms, count=1, min=112.0ms, max=112.0ms + scene_randomize: mean=1.3ms, total=94.6ms, count=72, min=0.9ms, max=2.7ms + scene_asset_install: mean=91.9ms, total=91.9ms, count=1, min=91.9ms, max=91.9ms + asset_install_grasps: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms + compile_aux_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + compile_aux_policy_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + mj_forward_sync: mean=422.9us, total=30.5ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + asset_install_scene: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + policy_setup: mean=14.2us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:03:14 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:03:14 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=4736.28s + Worker averages: + episode_total: mean=37.60s, total=2707.24s, count=72, min=181.8ms, max=151885.7ms + sensor_polling: mean=336.5ms, total=1683.27s, count=5003, min=289.0ms, max=804.3ms + save_trajectories: mean=9.15s, total=118.94s, count=13, min=8376.9ms, max=9739.7ms + physics_step: mean=21.9ms, total=109.67s, count=5003, min=12.8ms, max=110.3ms + save_batch_prep: mean=3.50s, total=45.56s, count=13, min=3214.3ms, max=3904.4ms + task_specific_sample: mean=432.8ms, total=31.16s, count=72, min=178.6ms, max=816.6ms + task_sampling: mean=514.3ms, total=24.69s, count=48, min=338.3ms, max=818.9ms + task_sampling_failed: mean=388.6ms, total=9.33s, count=24, min=181.8ms, max=2899.5ms + scene_load: mean=2.62s, total=2.62s, count=1, min=2619.0ms, max=2619.0ms + scene_env_create: mean=1.48s, total=1.48s, count=1, min=1479.3ms, max=1479.3ms + scene_compile: mean=935.5ms, total=935.5ms, count=1, min=935.5ms, max=935.5ms + compile_mujoco: mean=545.0ms, total=545.0ms, count=1, min=545.0ms, max=545.0ms + compile_xml_load: mean=323.6ms, total=323.6ms, count=1, min=323.6ms, max=323.6ms + scene_init: mean=112.0ms, total=112.0ms, count=1, min=112.0ms, max=112.0ms + scene_randomize: mean=1.3ms, total=94.6ms, count=72, min=0.9ms, max=2.7ms + scene_asset_install: mean=91.9ms, total=91.9ms, count=1, min=91.9ms, max=91.9ms + asset_install_grasps: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms + compile_aux_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + compile_aux_policy_objects: mean=51.2ms, total=51.2ms, count=1, min=51.2ms, max=51.2ms + mj_forward_sync: mean=422.9us, total=30.5ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=20.9ms, total=20.9ms, count=1, min=20.9ms, max=20.9ms + asset_install_scene: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + policy_setup: mean=14.2us, total=0.7ms, count=48, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:03:16 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:03:16 INFO: Success count: 13, Total count: 18 [pipeline.py: 1491] +05/12 12:03:16 INFO: Success rate: 72.22% [pipeline.py: 1492] +05/12 12:03:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:03:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:03:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:04:26 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:04:45 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 12:04:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:04:45 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 12:04:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:04:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 12:04:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 11.74s (batch: 2.97s, save: 8.77s) [pipeline.py: 300] +05/12 12:04:58 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.85s: + episode_total: mean=45.99s, total=229.96s, count=5, min=295.8ms, max=139250.6ms + sensor_polling: mean=321.5ms, total=141.15s, count=439, min=284.1ms, max=613.7ms + physics_step: mean=20.9ms, total=9.18s, count=439, min=14.8ms, max=46.3ms + save_trajectories: mean=8.77s, total=8.77s, count=1, min=8765.7ms, max=8765.7ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2970.5ms, max=2970.5ms + task_specific_sample: mean=558.6ms, total=2.79s, count=5, min=289.0ms, max=991.5ms + task_sampling: mean=615.2ms, total=1.85s, count=3, min=338.6ms, max=993.8ms + task_sampling_failed: mean=483.1ms, total=966.2ms, count=2, min=295.8ms, max=670.4ms + scene_randomize: mean=1.1ms, total=5.5ms, count=5, min=0.9ms, max=1.4ms + mj_forward_sync: mean=434.1us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=12.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:04:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:04:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:04:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:04:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:04:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:04:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:04:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143946m [env.py: 870] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:04:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:04:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=266.0ms, total=266.0ms [env.py: 1105] +05/12 12:04:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:04:59 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:05:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:05:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:05:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:05:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:05:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:05:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:05:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:05:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:05:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188338m [env.py: 870] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:05:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28283311 -1.21288419 -0.1883378 ] yaw=-43.7deg [env.py: 1019] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:05:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=189.0ms [env.py: 1075] +05/12 12:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -1.213, -0.188) [env.py: 1079] +05/12 12:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/12 12:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/12 12:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:05:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:05:01 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 12:05:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 12:05:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:05:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:05:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:05:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:05:06 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.664[m] 88.212[deg] [grasp_sample.py: 539] +05/12 12:05:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:05:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:05:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:05:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:05:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:05:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:05:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:06:36 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:06:54 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 12:06:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:06:54 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 12:07:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:07:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 12:07:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 11.50s (batch: 3.16s, save: 8.34s) [pipeline.py: 300] +05/12 12:07:06 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.42s: + episode_total: mean=63.15s, total=126.30s, count=2, min=277.5ms, max=126026.2ms + sensor_polling: mean=307.8ms, total=82.50s, count=268, min=289.8ms, max=514.9ms + save_trajectories: mean=8.34s, total=8.34s, count=1, min=8342.5ms, max=8342.5ms + physics_step: mean=20.2ms, total=5.41s, count=268, min=14.7ms, max=22.6ms + save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3159.4ms, max=3159.4ms + task_specific_sample: mean=344.5ms, total=689.0ms, count=2, min=271.7ms, max=417.2ms + task_sampling: mean=420.0ms, total=420.0ms, count=1, min=420.0ms, max=420.0ms + task_sampling_failed: mean=277.5ms, total=277.5ms, count=1, min=277.5ms, max=277.5ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms + mj_forward_sync: mean=422.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:07:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:07:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:07:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171151m [env.py: 870] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41253425 -0.92458576 -0.17115102] yaw=-55.1deg [env.py: 1019] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56445629 -0.94274203 -0.17115102] yaw=-74.2deg [env.py: 1019] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.5ms, total=366.6ms [env.py: 1075] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.925, -0.171) [env.py: 1079] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/12 12:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:07:08 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 12:07:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/12 12:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:07:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:07:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:07:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.753s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:07:15 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.749[m] 94.220[deg] [grasp_sample.py: 539] +05/12 12:07:16 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:07:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:07:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:07:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:07:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:07:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:07:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107681m [env.py: 870] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:07:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31506566 -1.026474 -0.10768091] yaw=-55.5deg [env.py: 1019] +05/12 12:07:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:07:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:07:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=242.7ms, total=242.8ms [env.py: 1075] +05/12 12:07:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.026, -0.108) [env.py: 1079] +05/12 12:07:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/12 12:07:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/12 12:07:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:07:18 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 12:07:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 12:07:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:07:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:07:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:07:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.511s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:07:21 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.768[m] 78.375[deg] [grasp_sample.py: 539] +05/12 12:07:23 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:07:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:07:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:07:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:07:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:07:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:07:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195644m [env.py: 870] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:07:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49711353 -1.04912274 -0.1956443 ] yaw=-55.9deg [env.py: 1019] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:07:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=260.8ms, total=260.9ms [env.py: 1075] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -1.049, -0.196) [env.py: 1079] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/12 12:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:07:24 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 12:07:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/12 12:07:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:07:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:07:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:07:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.242s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:07:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.620[m] 76.518[deg] [grasp_sample.py: 539] +05/12 12:07:27 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:07:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:07:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:07:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:07:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:07:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:07:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:07:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:07:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:07:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120345m [env.py: 870] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:07:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:07:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=227.7ms, total=227.7ms [env.py: 1105] +05/12 12:07:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:07:28 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:07:29 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 12:07:29 WARNING: [Worker 0] No trajectory data to save for chunk_017 [pipeline.py: 234] +05/12 12:07:29 INFO: [Worker 0] Worker 0 completed house 1: 14/19 successful episodes [pipeline.py: 1323] +05/12 12:07:29 INFO: [Worker 0] [PROFILE] House 1 complete: 14/19 successful, 19 episodes, total_time=5133.10s + House averages: + episode_total: mean=41.07s, total=2957.31s, count=72, min=177.8ms, max=182311.1ms + sensor_polling: mean=343.6ms, total=1809.29s, count=5266, min=273.3ms, max=747.3ms + save_trajectories: mean=9.38s, total=131.36s, count=14, min=8114.2ms, max=11485.3ms + physics_step: mean=22.4ms, total=117.76s, count=5266, min=12.9ms, max=144.1ms + save_batch_prep: mean=3.60s, total=50.47s, count=14, min=2970.5ms, max=4188.5ms + task_specific_sample: mean=402.7ms, total=29.00s, count=72, min=174.5ms, max=991.5ms + task_sampling: mean=581.6ms, total=23.26s, count=40, min=338.6ms, max=3112.3ms + task_sampling_failed: mean=266.5ms, total=8.53s, count=32, min=177.8ms, max=670.4ms + scene_load: mean=2.54s, total=2.54s, count=1, min=2540.7ms, max=2540.7ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1571.2ms, max=1571.2ms + scene_compile: mean=814.8ms, total=814.8ms, count=1, min=814.8ms, max=814.8ms + compile_mujoco: mean=533.3ms, total=533.3ms, count=1, min=533.3ms, max=533.3ms + compile_xml_load: mean=215.0ms, total=215.0ms, count=1, min=215.0ms, max=215.0ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + scene_randomize: mean=1.3ms, total=97.1ms, count=72, min=0.9ms, max=3.2ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms + mj_forward_sync: mean=438.6us, total=31.6ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=19.7ms, total=19.7ms, count=1, min=19.7ms, max=19.7ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=15.2us, total=0.6ms, count=40, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:07:29 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:07:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 19 episodes, total_time=5133.10s + Worker averages: + episode_total: mean=41.07s, total=2957.31s, count=72, min=177.8ms, max=182311.1ms + sensor_polling: mean=343.6ms, total=1809.29s, count=5266, min=273.3ms, max=747.3ms + save_trajectories: mean=9.38s, total=131.36s, count=14, min=8114.2ms, max=11485.3ms + physics_step: mean=22.4ms, total=117.76s, count=5266, min=12.9ms, max=144.1ms + save_batch_prep: mean=3.60s, total=50.47s, count=14, min=2970.5ms, max=4188.5ms + task_specific_sample: mean=402.7ms, total=29.00s, count=72, min=174.5ms, max=991.5ms + task_sampling: mean=581.6ms, total=23.26s, count=40, min=338.6ms, max=3112.3ms + task_sampling_failed: mean=266.5ms, total=8.53s, count=32, min=177.8ms, max=670.4ms + scene_load: mean=2.54s, total=2.54s, count=1, min=2540.7ms, max=2540.7ms + scene_env_create: mean=1.57s, total=1.57s, count=1, min=1571.2ms, max=1571.2ms + scene_compile: mean=814.8ms, total=814.8ms, count=1, min=814.8ms, max=814.8ms + compile_mujoco: mean=533.3ms, total=533.3ms, count=1, min=533.3ms, max=533.3ms + compile_xml_load: mean=215.0ms, total=215.0ms, count=1, min=215.0ms, max=215.0ms + scene_init: mean=98.0ms, total=98.0ms, count=1, min=98.0ms, max=98.0ms + scene_randomize: mean=1.3ms, total=97.1ms, count=72, min=0.9ms, max=3.2ms + scene_asset_install: mean=56.4ms, total=56.4ms, count=1, min=56.4ms, max=56.4ms + compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms + asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms + mj_forward_sync: mean=438.6us, total=31.6ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=19.7ms, total=19.7ms, count=1, min=19.7ms, max=19.7ms + compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=15.2us, total=0.6ms, count=40, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:07:31 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:07:31 INFO: Success count: 14, Total count: 19 [pipeline.py: 1491] +05/12 12:07:31 INFO: Success rate: 73.68% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120902.pkl b/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120902.pkl new file mode 100644 index 0000000000000000000000000000000000000000..4f1f3b39f9a899326de7ff3df08ff67cb16e8af3 --- /dev/null +++ b/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120902.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abe3abf309555471e56fb5cfdd30de45a967d3707f93b916eba7462ec1bd1296 +size 8146 diff --git a/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120904.pkl b/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120904.pkl new file mode 100644 index 0000000000000000000000000000000000000000..79119154238729f044b0199c4e37f892add67859 --- /dev/null +++ b/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120904.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68ccbd90991a14e8c9a5e9e428c036edf0b6bc35efd1a0cde903de8949720484 +size 8146 diff --git a/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120906.pkl b/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120906.pkl new file mode 100644 index 0000000000000000000000000000000000000000..4cb8175f169d606790cb87afd6e3bcbb4cfc594d --- /dev/null +++ b/3drawers/sim_chunks/chunk_018/experiment_config_20260512_120906.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb08c5570903d79db1a322cd89f3d800f4f218e1c8cabfb060cdce9c63baf6a5 +size 8146 diff --git a/3drawers/sim_chunks/chunk_018/running_log.log b/3drawers/sim_chunks/chunk_018/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..b0e1b05be72aad306c7212943c1377923851fca8 --- /dev/null +++ b/3drawers/sim_chunks/chunk_018/running_log.log @@ -0,0 +1,13564 @@ +05/12 12:09:02 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 12:09:02 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 12:09:02 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 12:09:02 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_018'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41804, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 12:09:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 12:09:02 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:09:02 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:09:03 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:09:04 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 12:09:04 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 12:09:04 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 12:09:04 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_018'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41803, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 12:09:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 12:09:04 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:09:04 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:09:04 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:09:04 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 12:09:04 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 12:09:04 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 12:09:04 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_018'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41801, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 12:09:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 12:09:04 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:09:04 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:09:05 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:09:05 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 12:09:05 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:09:05 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:09:05 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:09:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166585m [env.py: 870] +05/12 12:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:05 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 12:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=16.3ms, retries=222.2ms, total=238.4ms [env.py: 1105] +05/12 12:09:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:06 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:09:06 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 12:09:06 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/12 12:09:06 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 12:09:06 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_018'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_3drawers', + 'seed': 41802, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.9, 2.5), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/12 12:09:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/12 12:09:06 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:09:06 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:09:06 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 12:09:06 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:09:06 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:09:06 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:09:06 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:09:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135100m [env.py: 870] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:06 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=19.2ms, retries=328.7ms, total=348.0ms [env.py: 1105] +05/12 12:09:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:06 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:09:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174089m [env.py: 870] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=165.0ms, total=165.0ms [env.py: 1105] +05/12 12:09:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:07 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:09:07 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 12:09:07 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:09:07 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:09:07 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:09:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116097m [env.py: 870] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:07 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24454639 -0.90806963 -0.11609747] yaw=-59.8deg [env.py: 1019] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29847729 -0.97917293 -0.11609747] yaw=-52.7deg [env.py: 1019] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19774743 -1.1254539 -0.11609747] yaw=-41.9deg [env.py: 1019] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=16.1ms, retries=171.9ms, total=188.0ms [env.py: 1075] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -0.908, -0.116) [env.py: 1079] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/12 12:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:07 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118374m [env.py: 870] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1105] +05/12 12:09:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:08 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:09:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147473m [env.py: 870] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35007516 -1.09109225 -0.14747347] yaw=-54.5deg [env.py: 1019] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=390.6ms, total=390.7ms [env.py: 1075] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.091, -0.147) [env.py: 1079] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 12:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:08 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml [task_sampler.py: 797] +05/12 12:09:08 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:09:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:09 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:09 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:09:09 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:09:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146993m [env.py: 870] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:09 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57082671 -0.94942692 -0.14699334] yaw=-61.7deg [env.py: 1019] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22109847 -1.15325438 -0.14699334] yaw=-36.8deg [env.py: 1019] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=16.2ms, retries=191.7ms, total=208.0ms [env.py: 1075] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.949, -0.147) [env.py: 1079] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg [env.py: 1082] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181010m [env.py: 870] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56178359 -0.76019355 -0.18101049] yaw=-73.8deg [env.py: 1019] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=252.2ms, total=252.3ms [env.py: 1075] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.760, -0.181) [env.py: 1079] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.8 deg [env.py: 1082] +05/12 12:09:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:09 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:09 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:35 INFO: [Worker 0] Warmed up parallel IK solver in 27.790s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.539s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:09:37 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:09:37 INFO: [Worker 0] Warmed up parallel IK solver in 28.845s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194994m [env.py: 870] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:38 INFO: [Worker 0] Warmed up parallel IK solver in 29.125s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54246408 -0.76026155 -0.19499391] yaw=-57.0deg [env.py: 1019] +05/12 12:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=420.4ms, total=420.5ms [env.py: 1075] +05/12 12:09:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -0.760, -0.195) [env.py: 1079] +05/12 12:09:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 12:09:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/12 12:09:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:39 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.543s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 94.301[deg] [grasp_sample.py: 539] +05/12 12:09:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:09:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:40 INFO: [Worker 0] Warmed up parallel IK solver in 30.500s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:09:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:09:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.548s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:09:40 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:09:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.466s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:09:41 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:09:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.448s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.668[m] 92.028[deg] [grasp_sample.py: 539] +05/12 12:09:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168331m [env.py: 870] +05/12 12:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52175033 -0.74249627 -0.16833086] yaw=-76.8deg [env.py: 1019] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49870508 -1.02442076 -0.16833086] yaw=-64.3deg [env.py: 1019] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.3ms, total=240.4ms [env.py: 1075] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -0.742, -0.168) [env.py: 1079] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.8 deg [env.py: 1082] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:42 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105114m [env.py: 870] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31329194 -1.03612965 -0.10511387] yaw=-48.9deg [env.py: 1019] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=339.3ms, total=339.3ms [env.py: 1075] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -1.036, -0.105) [env.py: 1079] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 12:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m [env.py: 1086] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:43 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:43 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:09:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.911s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:09:44 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:09:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198299m [env.py: 870] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4654299 -0.87914795 -0.19829929] yaw=-56.5deg [env.py: 1019] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=200.1ms, total=200.2ms [env.py: 1075] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.879, -0.198) [env.py: 1079] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/12 12:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:45 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.980s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.731[m] 87.933[deg] [grasp_sample.py: 539] +05/12 12:09:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:09:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:09:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142455m [env.py: 870] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=571.6ms, total=571.6ms [env.py: 1105] +05/12 12:09:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:46 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:09:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174332m [env.py: 870] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=297.6ms, total=297.7ms [env.py: 1105] +05/12 12:09:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:47 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:09:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197763m [env.py: 870] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46286446 -0.97804649 -0.1977626 ] yaw=-66.3deg [env.py: 1019] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34675146 -1.14168706 -0.1977626 ] yaw=-51.9deg [env.py: 1019] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52136907 -0.95712902 -0.1977626 ] yaw=-72.2deg [env.py: 1019] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=283.3ms, total=283.4ms [env.py: 1075] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -0.978, -0.198) [env.py: 1079] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 12:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:49 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:51 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.735[m] 88.961[deg] [grasp_sample.py: 539] +05/12 12:09:52 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:09:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:09:53 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.695[m] 82.786[deg] [grasp_sample.py: 539] +05/12 12:09:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:09:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:09:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:09:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191910m [env.py: 870] +05/12 12:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=351.6ms, total=351.7ms [env.py: 1105] +05/12 12:09:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:09:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192531m [env.py: 870] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5775702 -0.72191553 -0.19253122] yaw=-59.8deg [env.py: 1019] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms [env.py: 1075] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.722, -0.193) [env.py: 1079] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/12 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:09:55 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/12 12:09:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/12 12:09:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:09:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:09:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:09:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.809s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:09:57 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:09:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:09:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:09:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172781m [env.py: 870] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=187.9ms, total=188.0ms [env.py: 1105] +05/12 12:09:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:09:59 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:10:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:10:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:10:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:10:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:10:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:10:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:10:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142493m [env.py: 870] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:10:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57106601 -1.01064521 -0.14249312] yaw=-63.2deg [env.py: 1019] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:10:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms [env.py: 1075] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -1.011, -0.142) [env.py: 1079] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg [env.py: 1082] +05/12 12:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:10:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:10:01 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 12:10:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 12:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:10:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:10:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:10:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.786s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:10:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.673[m] 88.312[deg] [grasp_sample.py: 539] +05/12 12:10:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:10:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:10:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:10:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:10:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:10:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:10:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:10:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:10:31 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.511[m] 61.577[deg] [grasp_sample.py: 539] +05/12 12:10:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:10:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:10:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:10:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:10:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:10:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:10:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:10:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:10:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.030s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:10:48 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.514[m] 62.253[deg] [grasp_sample.py: 539] +05/12 12:10:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:49 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:10:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:10:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:10:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:10:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:10:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:10:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:10:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194176m [env.py: 870] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:10:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47531843 -0.86877448 -0.19417582] yaw=-65.3deg [env.py: 1019] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:10:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.4ms, total=202.4ms [env.py: 1075] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.869, -0.194) [env.py: 1079] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/12 12:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:10:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:10:51 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 12:10:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 12:10:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:10:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:10:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:10:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.904s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:10:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.706[m] 82.655[deg] [grasp_sample.py: 539] +05/12 12:10:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:10:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:10:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:10:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:11:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:11:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:11:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:11:38 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:11:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:11:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:11:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:11:49 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 12:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:11:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:11:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:11:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:11:56 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:11:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:11:56 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 12:11:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.039s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:11:59 INFO: [Worker 0] Feasible grasp found 308 (originally 308): w/ 0.173[m] 9.552[deg] [grasp_sample.py: 539] +05/12 12:12:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:12:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:12:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:12:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.34s (batch: 2.97s, save: 9.37s) [pipeline.py: 300] +05/12 12:12:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=4.35s: + episode_total: mean=58.15s, total=174.45s, count=3, min=2380.4ms, max=139515.9ms + sensor_polling: mean=325.0ms, total=91.96s, count=283, min=297.9ms, max=565.3ms + save_trajectories: mean=9.37s, total=9.37s, count=1, min=9371.4ms, max=9371.4ms + physics_step: mean=21.2ms, total=6.01s, count=283, min=19.2ms, max=31.1ms + task_sampling: mean=1.45s, total=4.35s, count=3, min=565.4ms, max=3116.1ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2966.1ms, max=2966.1ms + scene_load: mean=2.71s, total=2.71s, count=1, min=2710.3ms, max=2710.3ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1726.9ms, max=1726.9ms + task_specific_sample: mean=542.8ms, total=1.63s, count=3, min=403.5ms, max=661.6ms + scene_compile: mean=822.9ms, total=822.9ms, count=1, min=822.9ms, max=822.9ms + compile_mujoco: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms + compile_xml_load: mean=208.8ms, total=208.8ms, count=1, min=208.8ms, max=208.8ms + scene_init: mean=111.3ms, total=111.3ms, count=1, min=111.3ms, max=111.3ms + compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + compile_aux_policy_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + scene_asset_install: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + scene_randomize: mean=983.5us, total=3.0ms, count=3, min=0.9ms, max=1.1ms + mj_forward_sync: mean=378.1us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=19.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:12:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.743s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:02 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.366[m] 23.013[deg] [grasp_sample.py: 539] +05/12 12:12:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:12:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:12:03 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 12:12:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134578m [env.py: 870] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:03 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=627.9ms, total=628.0ms [env.py: 1105] +05/12 12:12:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:04 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104153m [env.py: 870] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.5ms, total=166.6ms [env.py: 1105] +05/12 12:12:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:05 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193764m [env.py: 870] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=364.8ms, total=364.9ms [env.py: 1105] +05/12 12:12:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:05 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196271m [env.py: 870] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40920857 -0.79780924 -0.19627071] yaw=-49.7deg [env.py: 1019] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149775m [env.py: 870] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms [env.py: 1075] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.798, -0.196) [env.py: 1079] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:07 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24471897 -0.92369257 -0.14977512] yaw=-38.5deg [env.py: 1019] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18422398 -1.15265798 -0.14977512] yaw=-46.2deg [env.py: 1019] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34178626 -0.99299744 -0.14977512] yaw=-54.9deg [env.py: 1019] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=518.8ms, total=518.8ms [env.py: 1075] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -0.924, -0.150) [env.py: 1079] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg [env.py: 1082] +05/12 12:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:07 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.694s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:12:09 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:12:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.744s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:12:09 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:12:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:12:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:12:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.97s (batch: 3.34s, save: 9.63s) [pipeline.py: 300] +05/12 12:12:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180877m [env.py: 870] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.4ms, total=195.4ms [env.py: 1105] +05/12 12:12:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:10 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:10 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.66s: + episode_total: mean=62.11s, total=186.32s, count=3, min=172.7ms, max=182417.2ms + sensor_polling: mean=402.0ms, total=108.95s, count=271, min=312.6ms, max=607.1ms + save_trajectories: mean=9.63s, total=9.63s, count=1, min=9630.0ms, max=9630.0ms + physics_step: mean=23.6ms, total=6.39s, count=271, min=17.2ms, max=36.4ms + task_sampling_failed: mean=1.95s, total=3.91s, count=2, min=172.7ms, max=3732.6ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.2ms, max=3485.2ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3338.9ms, max=3338.9ms + scene_compile: mean=1.75s, total=1.75s, count=1, min=1750.3ms, max=1750.3ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1589.0ms, max=1589.0ms + compile_xml_load: mean=1.15s, total=1.15s, count=1, min=1153.9ms, max=1153.9ms + task_specific_sample: mean=356.0ms, total=1.07s, count=3, min=170.1ms, max=654.6ms + task_sampling: mean=656.9ms, total=656.9ms, count=1, min=656.9ms, max=656.9ms + compile_mujoco: mean=518.5ms, total=518.5ms, count=1, min=518.5ms, max=518.5ms + scene_init: mean=98.1ms, total=98.1ms, count=1, min=98.1ms, max=98.1ms + compile_aux_objects: mean=48.8ms, total=48.8ms, count=1, min=48.8ms, max=48.8ms + compile_aux_policy_objects: mean=48.8ms, total=48.8ms, count=1, min=48.8ms, max=48.8ms + scene_asset_install: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + asset_install_grasps: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms + compile_robot_add: mean=21.4ms, total=21.4ms, count=1, min=21.4ms, max=21.4ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + asset_install_scene: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms + scene_randomize: mean=992.0us, total=3.0ms, count=3, min=0.9ms, max=1.1ms + mj_forward_sync: mean=396.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111406m [env.py: 870] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30224898 -0.99890931 -0.11140572] yaw=-51.9deg [env.py: 1019] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32369253 -1.13368738 -0.11140572] yaw=-54.9deg [env.py: 1019] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48475067 -1.02847618 -0.11140572] yaw=-66.3deg [env.py: 1019] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=434.2ms, total=434.3ms [env.py: 1075] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -0.999, -0.111) [env.py: 1079] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 12:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:11 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157699m [env.py: 870] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=191.7ms, total=191.7ms [env.py: 1105] +05/12 12:12:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:12 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153239m [env.py: 870] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=273.0ms, total=273.1ms [env.py: 1105] +05/12 12:12:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:12 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129335m [env.py: 870] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10197073 -1.08895993 -0.12933516] yaw=-27.6deg [env.py: 1019] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=277.4ms, total=277.5ms [env.py: 1075] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.102, -1.089, -0.129) [env.py: 1079] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.6 deg [env.py: 1082] +05/12 12:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:14 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140534m [env.py: 870] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.63458856 -0.89662758 -0.14053405] yaw=-64.0deg [env.py: 1019] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.2ms, total=253.2ms [env.py: 1075] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.635, -0.897, -0.141) [env.py: 1079] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 12:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:14 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.634s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:12:15 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:12:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.798s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:15 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.770[m] 95.739[deg] [grasp_sample.py: 539] +05/12 12:12:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.474s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:16 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.695[m] 95.584[deg] [grasp_sample.py: 539] +05/12 12:12:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:12:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:12:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.46s (batch: 3.71s, save: 9.75s) [pipeline.py: 300] +05/12 12:12:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:12:17 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.52s: + episode_total: mean=26.56s, total=185.90s, count=7, min=215.9ms, max=148028.8ms + sensor_polling: mean=348.9ms, total=95.94s, count=275, min=294.7ms, max=497.5ms + save_trajectories: mean=9.75s, total=9.75s, count=1, min=9750.9ms, max=9750.9ms + physics_step: mean=22.8ms, total=6.27s, count=275, min=19.4ms, max=37.0ms + task_sampling_failed: mean=1.00s, total=4.01s, count=4, min=215.9ms, max=2910.3ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3705.1ms, max=3705.1ms + task_specific_sample: mean=422.5ms, total=2.96s, count=7, min=213.2ms, max=576.5ms + scene_load: mean=2.55s, total=2.55s, count=1, min=2552.3ms, max=2552.3ms + scene_env_create: mean=1.64s, total=1.64s, count=1, min=1638.7ms, max=1638.7ms + task_sampling: mean=505.8ms, total=1.52s, count=3, min=455.8ms, max=551.6ms + scene_compile: mean=765.5ms, total=765.5ms, count=1, min=765.5ms, max=765.5ms + compile_mujoco: mean=494.2ms, total=494.2ms, count=1, min=494.2ms, max=494.2ms + compile_xml_load: mean=209.4ms, total=209.4ms, count=1, min=209.4ms, max=209.4ms + scene_init: mean=105.2ms, total=105.2ms, count=1, min=105.2ms, max=105.2ms + compile_aux_objects: mean=48.4ms, total=48.4ms, count=1, min=48.4ms, max=48.4ms + compile_aux_policy_objects: mean=48.4ms, total=48.4ms, count=1, min=48.4ms, max=48.4ms + scene_asset_install: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + asset_install_grasps: mean=29.0ms, total=29.0ms, count=1, min=29.0ms, max=29.0ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + scene_randomize: mean=1.2ms, total=8.2ms, count=7, min=1.1ms, max=1.3ms + compile_robot_add: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=503.0us, total=3.5ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=29.8us, total=0.1ms, count=3, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:12:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172011m [env.py: 870] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=207.0ms, total=207.1ms [env.py: 1105] +05/12 12:12:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:17 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:17 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:12:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100999m [env.py: 870] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141317m [env.py: 870] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135764m [env.py: 870] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42416666 -0.76565648 -0.13576418] yaw=-69.1deg [env.py: 1019] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=579.0ms, total=579.1ms [env.py: 1105] +05/12 12:12:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:19 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=497.0ms, total=497.1ms [env.py: 1075] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.424, -0.766, -0.136) [env.py: 1079] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39348763 -0.86518359 -0.10099927] yaw=-54.7deg [env.py: 1019] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=954.6ms, total=954.7ms [env.py: 1075] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -0.865, -0.101) [env.py: 1079] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg [env.py: 1082] +05/12 12:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:19 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:19 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185951m [env.py: 870] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40844241 -1.10701907 -0.18595133] yaw=-55.0deg [env.py: 1019] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.5ms [env.py: 1075] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -1.107, -0.186) [env.py: 1079] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 12:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:20 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.579s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:12:21 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:12:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.620s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:12:21 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:12:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162860m [env.py: 870] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107485m [env.py: 870] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=256.0ms, total=256.1ms [env.py: 1105] +05/12 12:12:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:22 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.748s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:22 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.606[m] 91.443[deg] [grasp_sample.py: 539] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48955782 -0.92411371 -0.10748489] yaw=-52.4deg [env.py: 1019] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=310.1ms, total=310.2ms [env.py: 1075] +05/12 12:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.924, -0.107) [env.py: 1079] +05/12 12:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg [env.py: 1082] +05/12 12:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 12:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:23 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:12:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127062m [env.py: 870] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44329927 -0.88531543 -0.12706153] yaw=-64.7deg [env.py: 1019] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=210.7ms, total=210.7ms [env.py: 1075] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -0.885, -0.127) [env.py: 1079] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 12:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:24 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.873s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:26 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.766[m] 85.250[deg] [grasp_sample.py: 539] +05/12 12:12:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:12:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:12:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.773s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:30 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.771[m] 101.648[deg] [grasp_sample.py: 539] +05/12 12:12:31 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:12:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137613m [env.py: 870] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.5ms, total=226.5ms [env.py: 1105] +05/12 12:12:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:33 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169434m [env.py: 870] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=221.0ms, total=221.0ms [env.py: 1105] +05/12 12:12:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:12:34 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:12:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:12:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:12:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:12:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:12:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:12:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186985m [env.py: 870] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:12:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29273057 -0.95161401 -0.186985 ] yaw=-40.4deg [env.py: 1019] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:12:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.7ms, total=192.8ms [env.py: 1075] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.952, -0.187) [env.py: 1079] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg [env.py: 1082] +05/12 12:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:12:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:12:36 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 12:12:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:12:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:12:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:12:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:12:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.464s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:12:39 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.749[m] 87.549[deg] [grasp_sample.py: 539] +05/12 12:12:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:12:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:12:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:13:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:13:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:13:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:13:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:13:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:13:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:13:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.421s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:13:26 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.121[m] 9.977[deg] [grasp_sample.py: 539] +05/12 12:13:27 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:13:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:13:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:13:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:13:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:13:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:13:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116508m [env.py: 870] +05/12 12:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:13:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=234.0ms, total=234.0ms [env.py: 1105] +05/12 12:13:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:13:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:13:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:13:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:13:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:13:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:13:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:13:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194712m [env.py: 870] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:13:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23036296 -0.92863121 -0.19471167] yaw=-58.9deg [env.py: 1019] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:13:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.3ms, total=236.4ms [env.py: 1075] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -0.929, -0.195) [env.py: 1079] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/12 12:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:13:30 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/12 12:13:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:13:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:13:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:13:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:13:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.218s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:13:32 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:13:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:13:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:13:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:13:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:13:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:13:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:13:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178797m [env.py: 870] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:13:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.7ms, total=245.7ms [env.py: 1105] +05/12 12:13:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:13:33 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:13:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:13:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:13:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:13:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:13:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:13:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167502m [env.py: 870] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:13:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46203167 -1.05398842 -0.1675021 ] yaw=-65.0deg [env.py: 1019] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38360636 -1.07486675 -0.1675021 ] yaw=-39.0deg [env.py: 1019] +05/12 12:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32179494 -1.05737144 -0.1675021 ] yaw=-48.8deg [env.py: 1019] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=220.0ms [env.py: 1075] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.462, -1.054, -0.168) [env.py: 1079] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg [env.py: 1082] +05/12 12:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/12 12:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:13:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:13:35 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 12:13:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:13:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:13:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:13:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.392s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:13:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.622[m] 83.481[deg] [grasp_sample.py: 539] +05/12 12:13:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:13:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:13:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:13:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:13:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:13:58 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:14:15 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:14:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:14:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:14:18 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 12:14:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:14:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:14:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.29s (batch: 2.99s, save: 8.30s) [pipeline.py: 300] +05/12 12:14:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:14:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=6.26s: + episode_total: mean=20.35s, total=305.20s, count=15, min=174.9ms, max=129854.1ms + sensor_polling: mean=337.1ms, total=152.37s, count=452, min=297.7ms, max=598.2ms + physics_step: mean=21.5ms, total=9.70s, count=452, min=14.1ms, max=32.9ms + save_trajectories: mean=8.30s, total=8.30s, count=1, min=8298.3ms, max=8298.3ms + task_sampling: mean=782.7ms, total=6.26s, count=8, min=376.5ms, max=3289.8ms + task_specific_sample: mean=359.8ms, total=5.40s, count=15, min=171.4ms, max=584.0ms + save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2987.8ms, max=2987.8ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2760.6ms, max=2760.6ms + task_sampling_failed: mean=276.5ms, total=1.94s, count=7, min=174.8ms, max=586.7ms + scene_env_create: mean=1.62s, total=1.62s, count=1, min=1618.0ms, max=1618.0ms + scene_compile: mean=1.00s, total=1.00s, count=1, min=1003.0ms, max=1003.0ms + compile_mujoco: mean=725.1ms, total=725.1ms, count=1, min=725.1ms, max=725.1ms + compile_xml_load: mean=213.7ms, total=213.7ms, count=1, min=213.7ms, max=213.7ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + compile_aux_policy_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + scene_asset_install: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + scene_randomize: mean=1.1ms, total=15.8ms, count=15, min=0.9ms, max=1.3ms + asset_install_objects: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + compile_robot_add: mean=7.1ms, total=7.1ms, count=1, min=7.1ms, max=7.1ms + mj_forward_sync: mean=425.3us, total=6.4ms, count=15, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=21.7us, total=0.2ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:14:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:14:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:14:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:14:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187373m [env.py: 870] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:14:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3576255 -1.19305421 -0.18737312] yaw=-51.9deg [env.py: 1019] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:14:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.6ms [env.py: 1075] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.358, -1.193, -0.187) [env.py: 1079] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg [env.py: 1082] +05/12 12:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:14:32 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 12:14:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 12:14:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:14:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:14:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:14:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:14:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.602[m] 91.218[deg] [grasp_sample.py: 539] +05/12 12:14:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:14:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:14:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:14:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:14:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:14:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:14:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:14:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 375 non-colliding grasps [grasp_sample.py: 465] +05/12 12:14:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.451s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:14:36 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.123[m] 5.307[deg] [grasp_sample.py: 539] +05/12 12:14:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:14:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:14:36 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 12:14:36 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:14:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:14:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:14:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:14:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.44s (batch: 3.66s, save: 9.78s) [pipeline.py: 300] +05/12 12:14:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.43s: + episode_total: mean=40.69s, total=162.76s, count=4, min=372.7ms, max=159025.7ms + sensor_polling: mean=360.3ms, total=105.57s, count=293, min=297.0ms, max=615.4ms + save_trajectories: mean=9.78s, total=9.78s, count=1, min=9777.5ms, max=9777.5ms + physics_step: mean=23.9ms, total=7.00s, count=293, min=14.6ms, max=95.7ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3664.0ms, max=3664.0ms + task_specific_sample: mean=607.2ms, total=2.43s, count=4, min=369.5ms, max=782.8ms + task_sampling: mean=717.2ms, total=1.43s, count=2, min=645.1ms, max=789.2ms + task_sampling_failed: mean=507.4ms, total=1.01s, count=2, min=372.7ms, max=642.1ms + scene_randomize: mean=2.3ms, total=9.4ms, count=4, min=0.9ms, max=5.1ms + mj_forward_sync: mean=446.0us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:14:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:14:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:14:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125605m [env.py: 870] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:14:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=180.8ms, total=180.8ms [env.py: 1105] +05/12 12:14:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:14:51 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:14:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:14:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:14:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:14:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:14:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:14:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:14:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:14:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113972m [env.py: 870] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:14:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.1ms, total=215.2ms [env.py: 1105] +05/12 12:14:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:14:53 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:14:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.620s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:14:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.121[m] 19.412[deg] [grasp_sample.py: 539] +05/12 12:14:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:14:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:14:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:14:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:14:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167410m [env.py: 870] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:14:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.7ms, total=197.7ms [env.py: 1105] +05/12 12:14:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:14:54 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:14:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:14:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:14:56 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:14:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:14:56 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 12:14:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:14:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:14:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:14:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121610m [env.py: 870] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:14:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.0ms, total=188.0ms [env.py: 1105] +05/12 12:14:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:14:56 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:14:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:14:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:14:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:14:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193583m [env.py: 870] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:14:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=696.5ms, total=696.5ms [env.py: 1105] +05/12 12:14:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:14:58 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:14:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:14:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:14:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148499m [env.py: 870] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61835425 -0.77322269 -0.14849939] yaw=-66.2deg [env.py: 1019] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=499.8ms, total=499.8ms [env.py: 1075] +05/12 12:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.618, -0.773, -0.148) [env.py: 1079] +05/12 12:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/12 12:15:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/12 12:15:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:00 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:15:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:15:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:15:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.75s (batch: 3.78s, save: 8.98s) [pipeline.py: 300] +05/12 12:15:09 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.07s: + episode_total: mean=21.00s, total=168.04s, count=8, min=228.7ms, max=153807.4ms + sensor_polling: mean=377.8ms, total=107.66s, count=285, min=317.4ms, max=690.5ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8975.5ms, max=8975.5ms + physics_step: mean=22.7ms, total=6.46s, count=285, min=15.1ms, max=34.3ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3776.3ms, max=3776.3ms + task_specific_sample: mean=381.8ms, total=3.05s, count=8, min=225.8ms, max=760.8ms + task_sampling: mean=517.0ms, total=2.07s, count=4, min=392.4ms, max=763.6ms + task_sampling_failed: mean=253.5ms, total=1.01s, count=4, min=228.7ms, max=287.6ms + scene_randomize: mean=1.3ms, total=10.5ms, count=8, min=0.9ms, max=3.0ms + mj_forward_sync: mean=475.9us, total=3.8ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=18.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:15:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103954m [env.py: 870] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.2ms, total=200.2ms [env.py: 1105] +05/12 12:15:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:15:11 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:15:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.866s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:11 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.778[m] 81.553[deg] [grasp_sample.py: 539] +05/12 12:15:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166257m [env.py: 870] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:12 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=172.6ms, total=172.7ms [env.py: 1105] +05/12 12:15:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:15:12 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:15:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:15:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177130m [env.py: 870] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.3ms, total=184.3ms [env.py: 1105] +05/12 12:15:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:15:14 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:15:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134509m [env.py: 870] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21900918 -1.05421947 -0.13450875] yaw=-34.2deg [env.py: 1019] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=480.4ms, total=480.5ms [env.py: 1075] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.054, -0.135) [env.py: 1079] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.2 deg [env.py: 1082] +05/12 12:15:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:14 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154871m [env.py: 870] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=188.0ms, total=188.0ms [env.py: 1105] +05/12 12:15:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:15:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:15:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.696s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:16 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.775[m] 79.532[deg] [grasp_sample.py: 539] +05/12 12:15:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:15:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129369m [env.py: 870] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:15:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=183.6ms, total=183.7ms [env.py: 1105] +05/12 12:15:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:15:17 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:15:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100591m [env.py: 870] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14102229 -1.04166674 -0.10059087] yaw=-45.4deg [env.py: 1019] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39378142 -0.92004653 -0.10059087] yaw=-64.0deg [env.py: 1019] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.9ms, total=195.9ms [env.py: 1075] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -1.042, -0.101) [env.py: 1079] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 12:15:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:19 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.413s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:15:20 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:15:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147294m [env.py: 870] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15997291 -1.11382167 -0.14729443] yaw=-42.4deg [env.py: 1019] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29752088 -0.89785715 -0.14729443] yaw=-58.4deg [env.py: 1019] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=207.9ms [env.py: 1075] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.114, -0.147) [env.py: 1079] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/12 12:15:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:22 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:15:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.458s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:25 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 12:15:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111643m [env.py: 870] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.2ms, total=203.3ms [env.py: 1105] +05/12 12:15:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:15:26 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:15:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150577m [env.py: 870] +05/12 12:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22769959 -0.92394289 -0.15057651] yaw=-49.7deg [env.py: 1019] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.9ms [env.py: 1075] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -0.924, -0.151) [env.py: 1079] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/12 12:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 12:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:28 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.389s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:15:29 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:15:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140012m [env.py: 870] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23811444 -0.89634246 -0.14001207] yaw=-43.5deg [env.py: 1019] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=234.6ms, total=234.6ms [env.py: 1075] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -0.896, -0.140) [env.py: 1079] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg [env.py: 1082] +05/12 12:15:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:31 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.373s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:15:33 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186174m [env.py: 870] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=234.6ms, total=234.7ms [env.py: 1105] +05/12 12:15:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:15:34 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:15:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191248m [env.py: 870] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36463209 -1.00890203 -0.19124752] yaw=-58.8deg [env.py: 1019] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47062861 -0.77197588 -0.19124752] yaw=-65.1deg [env.py: 1019] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=555.1ms, total=555.2ms [env.py: 1075] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -1.009, -0.191) [env.py: 1079] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg [env.py: 1082] +05/12 12:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:36 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.208s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:40 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.706[m] 96.676[deg] [grasp_sample.py: 539] +05/12 12:15:41 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:15:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162542m [env.py: 870] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36110578 -1.0650404 -0.16254184] yaw=-39.5deg [env.py: 1019] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=329.9ms, total=329.9ms [env.py: 1075] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -1.065, -0.163) [env.py: 1079] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.5 deg [env.py: 1082] +05/12 12:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:43 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.687[m] 74.732[deg] [grasp_sample.py: 539] +05/12 12:15:45 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:15:45 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179562m [env.py: 870] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24222833 -0.99077169 -0.17956218] yaw=-35.4deg [env.py: 1019] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=447.6ms, total=447.6ms [env.py: 1075] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -0.991, -0.180) [env.py: 1079] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/12 12:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:47 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.320s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:56 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.726[m] 92.661[deg] [grasp_sample.py: 539] +05/12 12:15:57 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:15:57 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 12:15:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:15:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:15:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:15:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164988m [env.py: 870] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:15:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31497824 -1.16441643 -0.16498835] yaw=-39.9deg [env.py: 1019] +05/12 12:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms [env.py: 1075] +05/12 12:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.164, -0.165) [env.py: 1079] +05/12 12:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/12 12:15:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/12 12:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:15:59 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 12:15:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:15:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.385s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:01 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.710[m] 86.453[deg] [grasp_sample.py: 539] +05/12 12:16:02 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:16:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151931m [env.py: 870] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18020095 -1.10920253 -0.15193094] yaw=-33.4deg [env.py: 1019] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.1ms [env.py: 1075] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.109, -0.152) [env.py: 1079] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.4 deg [env.py: 1082] +05/12 12:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:04 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:16:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:16:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:16:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:07 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.717[m] 74.723[deg] [grasp_sample.py: 539] +05/12 12:16:08 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:16:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151286m [env.py: 870] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:10 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:16:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=362.4ms, total=362.4ms [env.py: 1105] +05/12 12:16:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:16:10 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:16:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109701m [env.py: 870] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44496043 -0.94278909 -0.10970065] yaw=-55.3deg [env.py: 1019] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2859438 -0.90758582 -0.10970065] yaw=-51.6deg [env.py: 1019] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=402.4ms, total=402.5ms [env.py: 1075] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.943, -0.110) [env.py: 1079] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg [env.py: 1082] +05/12 12:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:12 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.592s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.775[m] 95.229[deg] [grasp_sample.py: 539] +05/12 12:16:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:16:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:16:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:16:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:16:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.63s (batch: 3.19s, save: 10.44s) [pipeline.py: 300] +05/12 12:16:20 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=2.60s: + episode_total: mean=39.34s, total=236.07s, count=6, min=242.2ms, max=165908.8ms + sensor_polling: mean=328.4ms, total=146.80s, count=447, min=288.5ms, max=624.8ms + save_trajectories: mean=10.44s, total=10.44s, count=1, min=10436.7ms, max=10436.7ms + physics_step: mean=21.5ms, total=9.60s, count=447, min=14.6ms, max=65.5ms + save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3194.0ms, max=3194.0ms + task_specific_sample: mean=512.8ms, total=3.08s, count=6, min=238.6ms, max=1172.1ms + task_sampling: mean=649.9ms, total=2.60s, count=4, min=420.2ms, max=1175.7ms + task_sampling_failed: mean=247.7ms, total=495.4ms, count=2, min=242.2ms, max=253.2ms + scene_randomize: mean=1.2ms, total=7.2ms, count=6, min=0.9ms, max=2.3ms + mj_forward_sync: mean=425.5us, total=2.6ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=16.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:16:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160633m [env.py: 870] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3082735 -0.97915222 -0.16063279] yaw=-46.9deg [env.py: 1019] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=328.8ms, total=328.9ms [env.py: 1075] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -0.979, -0.161) [env.py: 1079] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/12 12:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:22 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:27 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:16:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:16:27 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 12:16:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.183s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:30 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.749[m] 85.438[deg] [grasp_sample.py: 539] +05/12 12:16:31 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:16:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126173m [env.py: 870] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.1ms, total=226.1ms [env.py: 1105] +05/12 12:16:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:16:32 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:16:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133976m [env.py: 870] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35855706 -1.02949768 -0.1339764 ] yaw=-46.5deg [env.py: 1019] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49764621 -0.94495187 -0.1339764 ] yaw=-63.8deg [env.py: 1019] +05/12 12:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.1ms, total=244.2ms [env.py: 1075] +05/12 12:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.029, -0.134) [env.py: 1079] +05/12 12:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/12 12:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/12 12:16:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:34 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:16:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:16:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.21s (batch: 2.87s, save: 8.33s) [pipeline.py: 300] +05/12 12:16:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.629s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:38 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.737[m] 91.308[deg] [grasp_sample.py: 539] +05/12 12:16:39 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s: + episode_total: mean=127.94s, total=127.94s, count=1, min=127936.8ms, max=127936.8ms + sensor_polling: mean=346.9ms, total=88.46s, count=255, min=294.8ms, max=568.9ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8331.9ms, max=8331.9ms + physics_step: mean=23.1ms, total=5.90s, count=255, min=15.5ms, max=72.4ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2873.7ms, max=2873.7ms + task_sampling: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms + task_specific_sample: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=432.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:16:40 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:16:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121354m [env.py: 870] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.63412626 -0.91290857 -0.12135351] yaw=-78.4deg [env.py: 1019] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.9ms [env.py: 1075] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.913, -0.121) [env.py: 1079] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.4 deg [env.py: 1082] +05/12 12:16:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:41 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194834m [env.py: 870] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38283344 -1.07077051 -0.1948342 ] yaw=-56.2deg [env.py: 1019] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.3ms [env.py: 1075] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -1.071, -0.195) [env.py: 1079] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.2 deg [env.py: 1082] +05/12 12:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:41 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.868s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:43 INFO: [Worker 0] Feasible grasp found 997 (originally 333): w/ 0.705[m] 81.011[deg] [grasp_sample.py: 539] +05/12 12:16:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.619[m] 89.078[deg] [grasp_sample.py: 539] +05/12 12:16:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:16:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:16:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:16:44 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:16:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196615m [env.py: 870] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6873179 -0.96228111 -0.19661497] yaw=-64.7deg [env.py: 1019] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.3ms, total=196.3ms [env.py: 1075] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.687, -0.962, -0.197) [env.py: 1079] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/12 12:16:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:46 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.787s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:47 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.627[m] 91.826[deg] [grasp_sample.py: 539] +05/12 12:16:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:16:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:16:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:16:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:16:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149379m [env.py: 870] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:16:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5975313 -0.98831584 -0.14937875] yaw=-59.0deg [env.py: 1019] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.1ms [env.py: 1075] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.988, -0.149) [env.py: 1079] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/12 12:16:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:16:50 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/12 12:16:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:16:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.928s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:51 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 85.855[deg] [grasp_sample.py: 539] +05/12 12:16:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:16:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:16:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:17:05 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:17:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:17:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.518s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.189[m] 17.598[deg] [grasp_sample.py: 539] +05/12 12:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:17:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:17:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:17:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:17:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.901s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:24 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.477[m] 56.680[deg] [grasp_sample.py: 539] +05/12 12:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:17:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:17:25 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/12 12:17:25 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:17:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:17:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:17:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:17:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:17:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:17:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190342m [env.py: 870] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:17:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43373989 -0.98544752 -0.19034169] yaw=-48.5deg [env.py: 1019] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:17:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.1ms, total=170.2ms [env.py: 1075] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -0.985, -0.190) [env.py: 1079] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg [env.py: 1082] +05/12 12:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:17:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:17:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:17:27 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 12:17:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 12:17:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.467s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:28 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.670[m] 82.425[deg] [grasp_sample.py: 539] +05/12 12:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:17:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:17:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:30 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.509s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.185[m] 17.031[deg] [grasp_sample.py: 539] +05/12 12:17:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:17:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:17:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:17:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:17:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:17:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:17:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:17:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:17:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138750m [env.py: 870] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:17:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48431347 -1.02278361 -0.13874973] yaw=-47.5deg [env.py: 1019] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:17:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.7ms [env.py: 1075] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -1.023, -0.139) [env.py: 1079] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/12 12:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:17:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:17:31 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 12:17:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:17:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:17:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.596s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:35 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.682[m] 88.702[deg] [grasp_sample.py: 539] +05/12 12:17:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:17:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.462s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.149[m] 12.723[deg] [grasp_sample.py: 539] +05/12 12:17:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:17:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:17:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:17:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:17:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:17:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.17s (batch: 3.77s, save: 10.39s) [pipeline.py: 300] +05/12 12:17:40 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.46s: + episode_total: mean=22.95s, total=160.66s, count=7, min=192.3ms, max=146293.7ms + sensor_polling: mean=346.1ms, total=100.36s, count=290, min=301.1ms, max=674.4ms + save_trajectories: mean=10.39s, total=10.39s, count=1, min=10394.7ms, max=10394.7ms + physics_step: mean=22.2ms, total=6.45s, count=290, min=14.8ms, max=79.0ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3771.3ms, max=3771.3ms + task_specific_sample: mean=421.4ms, total=2.95s, count=7, min=186.0ms, max=727.7ms + task_sampling_failed: mean=304.5ms, total=1.52s, count=5, min=192.3ms, max=704.2ms + task_sampling: mean=729.4ms, total=1.46s, count=2, min=728.9ms, max=729.9ms + scene_randomize: mean=2.4ms, total=16.6ms, count=7, min=1.0ms, max=8.8ms + mj_forward_sync: mean=423.0us, total=3.0ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:17:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:17:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:17:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:17:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:17:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185477m [env.py: 870] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28942118 -1.19706869 -0.1854773 ] yaw=-38.0deg [env.py: 1019] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:17:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51977398 -0.85149195 -0.1854773 ] yaw=-73.6deg [env.py: 1019] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14880283 -1.00011156 -0.1854773 ] yaw=-48.2deg [env.py: 1019] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:17:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=448.7ms, total=448.7ms [env.py: 1075] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.197, -0.185) [env.py: 1079] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.0 deg [env.py: 1082] +05/12 12:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 12:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:17:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.208s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:17:42 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/12 12:17:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 12:17:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.539s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:42 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.185[m] 17.030[deg] [grasp_sample.py: 539] +05/12 12:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:17:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:43 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.645[m] 84.565[deg] [grasp_sample.py: 539] +05/12 12:17:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:17:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:17:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:17:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:17:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:17:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.447s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:17:49 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.199[m] 14.214[deg] [grasp_sample.py: 539] +05/12 12:17:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:17:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:17:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:17:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:17:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:17:59 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:17:59 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=5.34s: + episode_total: mean=8.11s, total=145.95s, count=18, min=180.3ms, max=107806.9ms + sensor_polling: mean=378.3ms, total=61.29s, count=162, min=328.2ms, max=616.7ms + task_specific_sample: mean=393.4ms, total=7.08s, count=18, min=177.3ms, max=789.3ms + task_sampling: mean=533.6ms, total=5.34s, count=10, min=416.3ms, max=791.3ms + physics_step: mean=20.5ms, total=3.33s, count=162, min=13.2ms, max=58.2ms + task_sampling_failed: mean=226.2ms, total=1.81s, count=8, min=180.2ms, max=373.9ms + scene_randomize: mean=1.2ms, total=20.9ms, count=18, min=0.9ms, max=2.4ms + mj_forward_sync: mean=440.7us, total=7.9ms, count=18, min=0.4ms, max=0.8ms + policy_setup: mean=16.4us, total=0.2ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=18, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160263m [env.py: 870] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=290.6ms, total=290.7ms [env.py: 1105] +05/12 12:18:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:18:01 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178483m [env.py: 870] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=263.8ms, total=263.9ms [env.py: 1105] +05/12 12:18:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:18:02 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194060m [env.py: 870] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10297677 -1.05904568 -0.19405963] yaw=-45.4deg [env.py: 1019] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms [env.py: 1075] +05/12 12:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.103, -1.059, -0.194) [env.py: 1079] +05/12 12:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/12 12:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 12:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:18:04 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 12:18:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 12:18:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:18:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.357s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:18:05 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:18:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.568s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.227[m] 13.154[deg] [grasp_sample.py: 539] +05/12 12:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:18:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:18:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138526m [env.py: 870] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49621584 -0.881358 -0.13852552] yaw=-53.2deg [env.py: 1019] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:18:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.4ms, total=209.4ms [env.py: 1075] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.881, -0.139) [env.py: 1079] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:18:07 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 12:18:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:18:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:12 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.780[m] 87.230[deg] [grasp_sample.py: 539] +05/12 12:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:13 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194886m [env.py: 870] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=215.2ms, total=215.3ms [env.py: 1105] +05/12 12:18:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:18:14 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101525m [env.py: 870] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27639634 -0.91303087 -0.10152513] yaw=-44.7deg [env.py: 1019] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1075] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.913, -0.102) [env.py: 1079] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg [env.py: 1082] +05/12 12:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:18:16 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 12:18:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.316s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:18:18 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172764m [env.py: 870] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64421788 -0.95941151 -0.1727638 ] yaw=-76.4deg [env.py: 1019] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.4ms, total=221.5ms [env.py: 1075] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.644, -0.959, -0.173) [env.py: 1079] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.4 deg [env.py: 1082] +05/12 12:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:18:19 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 12:18:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:18:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.462s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.639[m] 88.870[deg] [grasp_sample.py: 539] +05/12 12:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:18:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:18:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.143[m] 15.937[deg] [grasp_sample.py: 539] +05/12 12:18:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:18:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:18:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:18:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:18:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.420s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:46 INFO: [Worker 0] Feasible grasp found 29 (originally 29): w/ 0.159[m] 10.615[deg] [grasp_sample.py: 539] +05/12 12:18:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:18:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.666s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:46 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.539[m] 64.850[deg] [grasp_sample.py: 539] +05/12 12:18:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:18:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:18:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:18:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:58 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:18:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:18:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:18:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:18:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:18:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:58 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:18:58 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=1.49s: + episode_total: mean=38.17s, total=152.68s, count=4, min=233.9ms, max=137134.4ms + sensor_polling: mean=333.9ms, total=82.47s, count=247, min=300.4ms, max=586.0ms + physics_step: mean=21.2ms, total=5.24s, count=247, min=14.9ms, max=33.3ms + task_specific_sample: mean=428.6ms, total=1.71s, count=4, min=230.8ms, max=578.4ms + task_sampling: mean=497.0ms, total=1.49s, count=3, min=444.8ms, max=581.9ms + task_sampling_failed: mean=233.9ms, total=233.9ms, count=1, min=233.9ms, max=233.9ms + scene_randomize: mean=1.3ms, total=5.0ms, count=4, min=0.9ms, max=2.3ms + mj_forward_sync: mean=368.5us, total=1.5ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=17.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:18:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:18:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:18:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:18:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178391m [env.py: 870] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:18:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19071735 -1.11441037 -0.17839059] yaw=-31.9deg [env.py: 1019] +05/12 12:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:19:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=320.6ms, total=320.6ms [env.py: 1075] +05/12 12:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.114, -0.178) [env.py: 1079] +05/12 12:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.9 deg [env.py: 1082] +05/12 12:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 12:19:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:19:00 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 12:19:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 12:19:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:19:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.864s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:01 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.539[m] 64.849[deg] [grasp_sample.py: 539] +05/12 12:19:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:19:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:19:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.818s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:05 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.675[m] 82.686[deg] [grasp_sample.py: 539] +05/12 12:19:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:19:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:19:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:19:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:19:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:19:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:19:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.598s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:15 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.539[m] 64.849[deg] [grasp_sample.py: 539] +05/12 12:19:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:19:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:19:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:19:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:19:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:19:26 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:19:26 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=False episode_total=1.70s: + episode_total: mean=11.23s, total=78.62s, count=7, min=223.1ms, max=67654.8ms + sensor_polling: mean=340.4ms, total=23.83s, count=70, min=312.1ms, max=410.1ms + task_specific_sample: mean=354.3ms, total=2.48s, count=7, min=220.3ms, max=446.0ms + task_sampling: mean=425.5ms, total=1.70s, count=4, min=409.8ms, max=448.0ms + physics_step: mean=17.3ms, total=1.21s, count=70, min=12.9ms, max=20.3ms + task_sampling_failed: mean=265.7ms, total=797.1ms, count=3, min=223.1ms, max=301.7ms + scene_randomize: mean=1.0ms, total=7.2ms, count=7, min=0.9ms, max=1.4ms + mj_forward_sync: mean=414.3us, total=2.9ms, count=7, min=0.4ms, max=0.6ms + policy_setup: mean=12.4us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:19:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:19:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:19:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:19:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:19:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:19:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184284m [env.py: 870] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:19:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44420739 -0.78235315 -0.18428379] yaw=-64.8deg [env.py: 1019] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:19:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.444, -0.782, -0.184) [env.py: 1079] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 12:19:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:19:28 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 12:19:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/12 12:19:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:19:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.286s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:19:30 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:19:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:19:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:19:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:19:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:19:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:19:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160780m [env.py: 870] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:19:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=198.8ms, total=198.8ms [env.py: 1105] +05/12 12:19:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:19:31 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:19:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:19:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:19:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:19:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:19:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:19:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144555m [env.py: 870] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:19:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33937782 -0.93431573 -0.1445553 ] yaw=-54.5deg [env.py: 1019] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:19:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.7ms [env.py: 1075] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -0.934, -0.145) [env.py: 1079] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg [env.py: 1082] +05/12 12:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:19:33 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 12:19:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 12:19:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:19:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.718s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.750[m] 80.338[deg] [grasp_sample.py: 539] +05/12 12:19:36 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:19:37 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:19:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:19:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:19:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:19:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:19:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:19:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121236m [env.py: 870] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:19:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34698085 -1.16229542 -0.12123578] yaw=-45.0deg [env.py: 1019] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:19:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.4ms [env.py: 1075] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.162, -0.121) [env.py: 1079] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg [env.py: 1082] +05/12 12:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:19:39 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 12:19:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:19:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:19:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.438s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:41 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.682[m] 89.460[deg] [grasp_sample.py: 539] +05/12 12:19:42 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:19:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:19:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:19:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:19:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:19:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:19:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170786m [env.py: 870] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:19:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65499655 -0.87767407 -0.17078571] yaw=-81.7deg [env.py: 1019] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35384166 -1.18413118 -0.17078571] yaw=-41.1deg [env.py: 1019] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:19:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.6ms, total=336.6ms [env.py: 1075] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.655, -0.878, -0.171) [env.py: 1079] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.7 deg [env.py: 1082] +05/12 12:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:19:44 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 12:19:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:19:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:19:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.029s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.681[m] 101.646[deg] [grasp_sample.py: 539] +05/12 12:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:19:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:19:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:19:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:54 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:19:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:19:54 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/12 12:19:59 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:20:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:20:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.06s (batch: 3.63s, save: 9.43s) [pipeline.py: 300] +05/12 12:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:08 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.70s: + episode_total: mean=147.01s, total=147.01s, count=1, min=147012.2ms, max=147012.2ms + sensor_polling: mean=390.1ms, total=103.78s, count=266, min=294.8ms, max=631.4ms + save_trajectories: mean=9.43s, total=9.43s, count=1, min=9434.6ms, max=9434.6ms + physics_step: mean=24.7ms, total=6.57s, count=266, min=14.5ms, max=75.1ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3627.2ms, max=3627.2ms + task_sampling: mean=704.8ms, total=704.8ms, count=1, min=704.8ms, max=704.8ms + task_specific_sample: mean=701.3ms, total=701.3ms, count=1, min=701.3ms, max=701.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:20:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:20:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:20:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:20:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:20:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:20:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181515m [env.py: 870] +05/12 12:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:20:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65999099 -0.98458469 -0.18151456] yaw=-66.1deg [env.py: 1019] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:20:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.4ms, total=224.5ms [env.py: 1075] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.660, -0.985, -0.182) [env.py: 1079] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/12 12:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 12:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:20:10 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/12 12:20:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 12:20:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:20:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:20:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:20:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.520s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.548[m] 75.674[deg] [grasp_sample.py: 539] +05/12 12:20:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:20:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.075s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.586[m] 86.799[deg] [grasp_sample.py: 539] +05/12 12:20:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:20:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:20:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:20:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:20:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:20:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:20:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:20:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:20:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:26 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.548[m] 75.675[deg] [grasp_sample.py: 539] +05/12 12:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:20:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:20:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:20:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:20:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.24s (batch: 3.65s, save: 9.59s) [pipeline.py: 300] +05/12 12:20:36 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=1.90s: + episode_total: mean=46.20s, total=231.01s, count=5, min=3002.2ms, max=185640.7ms + sensor_polling: mean=356.9ms, total=126.00s, count=353, min=292.5ms, max=629.4ms + save_trajectories: mean=9.59s, total=9.59s, count=1, min=9587.9ms, max=9587.9ms + physics_step: mean=22.9ms, total=8.09s, count=353, min=14.7ms, max=55.6ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3653.1ms, max=3653.1ms + task_sampling: mean=379.4ms, total=1.90s, count=5, min=334.7ms, max=412.4ms + task_specific_sample: mean=376.8ms, total=1.88s, count=5, min=332.2ms, max=410.4ms + scene_randomize: mean=1.2ms, total=6.2ms, count=5, min=0.9ms, max=2.3ms + mj_forward_sync: mean=387.8us, total=1.9ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:20:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:20:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:20:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:20:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:20:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:20:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:20:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:20:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174818m [env.py: 870] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:20:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=255.8ms, total=255.8ms [env.py: 1105] +05/12 12:20:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:20:38 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:20:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.361s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.548[m] 75.675[deg] [grasp_sample.py: 539] +05/12 12:20:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:20:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:20:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:20:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:20:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:20:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155627m [env.py: 870] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36717996 -0.89537844 -0.15562665] yaw=-57.8deg [env.py: 1019] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.6ms, total=212.7ms [env.py: 1075] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -0.895, -0.156) [env.py: 1079] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/12 12:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:20:40 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 12:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 12:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:20:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:47 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:20:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:20:50 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:20:50 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=1.88s: + episode_total: mean=15.50s, total=77.49s, count=5, min=207.7ms, max=66833.3ms + sensor_polling: mean=364.1ms, total=25.85s, count=71, min=312.6ms, max=553.2ms + task_specific_sample: mean=415.5ms, total=2.08s, count=5, min=203.7ms, max=552.0ms + task_sampling: mean=470.7ms, total=1.88s, count=4, min=422.4ms, max=554.2ms + physics_step: mean=18.3ms, total=1.30s, count=71, min=13.0ms, max=29.0ms + task_sampling_failed: mean=207.7ms, total=207.7ms, count=1, min=207.7ms, max=207.7ms + scene_randomize: mean=1.0ms, total=5.2ms, count=5, min=0.9ms, max=1.3ms + mj_forward_sync: mean=419.0us, total=2.1ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=12.2us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:20:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:20:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:20:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:20:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:20:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:20:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176036m [env.py: 870] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:20:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14548973 -1.08968176 -0.17603603] yaw=-44.5deg [env.py: 1019] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.030s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:52 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.759[m] 90.821[deg] [grasp_sample.py: 539] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:20:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.3ms [env.py: 1075] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.090, -0.176) [env.py: 1079] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg [env.py: 1082] +05/12 12:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:20:52 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 12:20:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:20:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:20:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:20:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:20:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.345s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:20:54 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:20:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:20:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:20:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:20:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:20:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:20:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:20:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137001m [env.py: 870] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:20:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63175591 -0.92741541 -0.13700058] yaw=-65.6deg [env.py: 1019] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62808531 -0.78986795 -0.13700058] yaw=-80.2deg [env.py: 1019] +05/12 12:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:20:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=548.2ms, total=548.2ms [env.py: 1075] +05/12 12:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.632, -0.927, -0.137) [env.py: 1079] +05/12 12:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg [env.py: 1082] +05/12 12:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/12 12:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:20:56 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 12:20:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:20:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:20:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.934s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:59 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.725[m] 79.113[deg] [grasp_sample.py: 539] +05/12 12:20:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:21:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:21:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:21:06 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:21:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:21:06 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/12 12:21:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:21:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:21:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:21:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.08s (batch: 2.89s, save: 8.19s) [pipeline.py: 300] +05/12 12:21:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.56s: + episode_total: mean=138.01s, total=138.01s, count=1, min=138014.8ms, max=138014.8ms + sensor_polling: mean=346.9ms, total=94.02s, count=271, min=301.2ms, max=644.7ms + save_trajectories: mean=8.19s, total=8.19s, count=1, min=8191.2ms, max=8191.2ms + physics_step: mean=22.1ms, total=6.00s, count=271, min=14.6ms, max=43.5ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2893.3ms, max=2893.3ms + task_sampling: mean=555.4ms, total=555.4ms, count=1, min=555.4ms, max=555.4ms + task_specific_sample: mean=553.1ms, total=553.1ms, count=1, min=553.1ms, max=553.1ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=369.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:21:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:21:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:21:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:21:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147469m [env.py: 870] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:21:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=249.1ms, total=249.2ms [env.py: 1105] +05/12 12:21:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:21:19 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:21:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:21:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:21:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:21:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137895m [env.py: 870] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:21:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33384183 -0.92413193 -0.13789516] yaw=-49.9deg [env.py: 1019] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:21:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.8ms, total=237.8ms [env.py: 1075] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -0.924, -0.138) [env.py: 1079] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/12 12:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:21:20 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 12:21:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 12:21:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:21:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:21:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:21:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.003s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:21:33 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 12:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179240m [env.py: 870] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=253.6ms, total=253.6ms [env.py: 1105] +05/12 12:21:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:21:34 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:21:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:21:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:21:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:21:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181676m [env.py: 870] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:21:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.67154628 -0.94498116 -0.18167614] yaw=-59.5deg [env.py: 1019] +05/12 12:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:21:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.6ms, total=233.7ms [env.py: 1075] +05/12 12:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.672, -0.945, -0.182) [env.py: 1079] +05/12 12:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg [env.py: 1082] +05/12 12:21:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/12 12:21:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:21:36 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 12:21:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:21:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:21:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:21:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:21:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.851s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:21:40 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.610[m] 88.756[deg] [grasp_sample.py: 539] +05/12 12:21:41 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:21:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:21:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:21:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:21:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180134m [env.py: 870] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:21:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47270782 -1.06230588 -0.18013395] yaw=-52.6deg [env.py: 1019] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32165508 -0.93403315 -0.18013395] yaw=-45.0deg [env.py: 1019] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.5ms, total=245.6ms [env.py: 1075] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -1.062, -0.180) [env.py: 1079] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:21:43 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 12:21:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:21:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:21:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:21:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:21:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:21:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.601[m] 82.806[deg] [grasp_sample.py: 539] +05/12 12:21:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:21:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:21:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:21:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:51 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:21:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:22:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.310s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:06 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.333[m] 20.769[deg] [grasp_sample.py: 539] +05/12 12:22:08 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:22:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:22:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:22:09 INFO: [Worker 0] Preparing episode data: 253 timesteps [save_utils.py: 278] +05/12 12:22:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124106m [env.py: 870] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.4ms, total=204.4ms [env.py: 1105] +05/12 12:22:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:22:09 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:22:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178809m [env.py: 870] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12895419 -1.04173414 -0.17880902] yaw=-30.8deg [env.py: 1019] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25065924 -0.97725007 -0.17880902] yaw=-39.0deg [env.py: 1019] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:22:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.6ms [env.py: 1075] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -1.042, -0.179) [env.py: 1079] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.8 deg [env.py: 1082] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:22:11 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 12:22:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:22:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:22:12 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:22:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127596m [env.py: 870] +05/12 12:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2049837 -0.96930976 -0.1275956 ] yaw=-34.9deg [env.py: 1019] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:22:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=502.0ms, total=502.1ms [env.py: 1075] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -0.969, -0.128) [env.py: 1079] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg [env.py: 1082] +05/12 12:22:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 12:22:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:22:14 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 12:22:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:22:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.295s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:22:16 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180651m [env.py: 870] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61181955 -0.96704745 -0.1806512 ] yaw=-70.8deg [env.py: 1019] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=313.5ms, total=313.5ms [env.py: 1075] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.967, -0.181) [env.py: 1079] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg [env.py: 1082] +05/12 12:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:22:17 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 12:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:22:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.538s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.625[m] 85.897[deg] [grasp_sample.py: 539] +05/12 12:22:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:22:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:22:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:22:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:22:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.78s (batch: 3.84s, save: 9.94s) [pipeline.py: 300] +05/12 12:22:23 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s: + episode_total: mean=133.70s, total=133.70s, count=1, min=133697.6ms, max=133697.6ms + sensor_polling: mean=336.6ms, total=84.82s, count=252, min=298.0ms, max=760.6ms + save_trajectories: mean=9.94s, total=9.94s, count=1, min=9938.8ms, max=9938.8ms + physics_step: mean=21.4ms, total=5.38s, count=252, min=15.0ms, max=32.1ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.0ms, max=3841.0ms + task_sampling: mean=491.8ms, total=491.8ms, count=1, min=491.8ms, max=491.8ms + task_specific_sample: mean=488.4ms, total=488.4ms, count=1, min=488.4ms, max=488.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=428.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170753m [env.py: 870] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14465007 -1.08049456 -0.17075325] yaw=-49.1deg [env.py: 1019] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44719162 -0.87844186 -0.17075325] yaw=-62.6deg [env.py: 1019] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24989083 -1.15187376 -0.17075325] yaw=-37.7deg [env.py: 1019] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:22:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=630.4ms, total=630.4ms [env.py: 1075] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.080, -0.171) [env.py: 1079] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg [env.py: 1082] +05/12 12:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 12:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:22:25 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/12 12:22:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 12:22:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:22:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:22:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148963m [env.py: 870] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19678753 -1.02148925 -0.14896308] yaw=-33.3deg [env.py: 1019] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:22:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=179.1ms, total=179.2ms [env.py: 1075] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.021, -0.149) [env.py: 1079] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/12 12:22:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:22:28 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/12 12:22:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:22:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.288s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:22:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:22:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165164m [env.py: 870] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.6ms, total=204.6ms [env.py: 1105] +05/12 12:22:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:22:31 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:22:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:22:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.451s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.119[m] 10.959[deg] [grasp_sample.py: 539] +05/12 12:22:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:22:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:22:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:22:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197077m [env.py: 870] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:22:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36018971 -0.90839498 -0.19707746] yaw=-58.4deg [env.py: 1019] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:22:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.3ms [env.py: 1075] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.360, -0.908, -0.197) [env.py: 1079] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg [env.py: 1082] +05/12 12:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:22:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:22:33 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/12 12:22:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:22:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:22:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:44 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:22:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:22:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.830s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.475[m] 61.374[deg] [grasp_sample.py: 539] +05/12 12:22:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:22:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:22:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:22:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.540s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:47 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.115[m] 10.325[deg] [grasp_sample.py: 539] +05/12 12:22:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:22:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:22:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.613s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:48 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.752[m] 95.552[deg] [grasp_sample.py: 539] +05/12 12:22:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:22:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:22:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:22:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:22:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:22:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:22:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:22:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.424s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.115[m] 10.324[deg] [grasp_sample.py: 539] +05/12 12:23:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:23:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:23:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.157s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:01 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.471[m] 61.707[deg] [grasp_sample.py: 539] +05/12 12:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:02 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130013m [env.py: 870] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:03 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:23:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:23:03 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56065523 -0.75558586 -0.13001294] yaw=-76.4deg [env.py: 1019] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33384013 -1.07658865 -0.13001294] yaw=-47.3deg [env.py: 1019] +05/12 12:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=378.2ms, total=378.3ms [env.py: 1075] +05/12 12:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.756, -0.130) [env.py: 1079] +05/12 12:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.4 deg [env.py: 1082] +05/12 12:23:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 12:23:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:23:04 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 12:23:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:23:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:23:05 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108137m [env.py: 870] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1105] +05/12 12:23:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:23:07 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:23:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182988m [env.py: 870] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=260.1ms, total=260.1ms [env.py: 1105] +05/12 12:23:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:23:08 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194986m [env.py: 870] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22337663 -0.91322751 -0.19498609] yaw=-50.1deg [env.py: 1019] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25440375 -1.07304629 -0.19498609] yaw=-33.0deg [env.py: 1019] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.1ms, total=192.2ms [env.py: 1075] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.223, -0.913, -0.195) [env.py: 1079] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/12 12:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:23:10 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 12:23:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:23:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.293s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:23:11 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:23:12 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:23:12 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:23:12 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=False episode_total=1.61s: + episode_total: mean=21.80s, total=108.98s, count=5, min=259.3ms, max=90252.9ms + sensor_polling: mean=338.0ms, total=46.64s, count=138, min=289.4ms, max=591.7ms + physics_step: mean=20.3ms, total=2.80s, count=138, min=13.2ms, max=32.1ms + task_specific_sample: mean=422.4ms, total=2.11s, count=5, min=254.9ms, max=677.8ms + task_sampling: mean=535.2ms, total=1.61s, count=3, min=442.9ms, max=680.0ms + task_sampling_failed: mean=260.4ms, total=520.7ms, count=2, min=259.3ms, max=261.5ms + scene_randomize: mean=1.3ms, total=6.5ms, count=5, min=1.0ms, max=2.4ms + mj_forward_sync: mean=417.6us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116134m [env.py: 870] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47010651 -0.92854223 -0.11613398] yaw=-60.9deg [env.py: 1019] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=203.6ms, total=203.7ms [env.py: 1075] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -0.929, -0.116) [env.py: 1079] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/12 12:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:23:13 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 12:23:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:23:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122771m [env.py: 870] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58565393 -0.97379405 -0.12277062] yaw=-56.5deg [env.py: 1019] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65481916 -0.95105259 -0.12277062] yaw=-66.6deg [env.py: 1019] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.3ms [env.py: 1075] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.974, -0.123) [env.py: 1079] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/12 12:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:23:14 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 12:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:23:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.432s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:16 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.758[m] 86.598[deg] [grasp_sample.py: 539] +05/12 12:23:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:23:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:23:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:23:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:23:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:23:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.43s (batch: 3.64s, save: 9.78s) [pipeline.py: 300] +05/12 12:23:17 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.45s: + episode_total: mean=79.23s, total=158.46s, count=2, min=267.7ms, max=158190.4ms + sensor_polling: mean=358.7ms, total=102.58s, count=286, min=301.9ms, max=623.6ms + save_trajectories: mean=9.78s, total=9.78s, count=1, min=9784.6ms, max=9784.6ms + physics_step: mean=23.3ms, total=6.67s, count=286, min=19.6ms, max=70.5ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.1ms, max=3641.1ms + task_specific_sample: mean=356.9ms, total=713.8ms, count=2, min=261.5ms, max=452.4ms + task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms + task_sampling_failed: mean=267.7ms, total=267.7ms, count=1, min=267.7ms, max=267.7ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=0.9ms, max=2.5ms + mj_forward_sync: mean=379.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=34.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:23:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193776m [env.py: 870] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.67456977 -0.95740002 -0.19377567] yaw=-65.8deg [env.py: 1019] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.8ms [env.py: 1075] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.675, -0.957, -0.194) [env.py: 1079] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/12 12:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:23:19 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/12 12:23:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:23:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.599[m] 80.952[deg] [grasp_sample.py: 539] +05/12 12:23:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:23:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:23:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:23:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.292s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:26 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.663[m] 84.363[deg] [grasp_sample.py: 539] +05/12 12:23:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:23:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:23:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:23:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:23:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:23:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.680s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.464[m] 58.553[deg] [grasp_sample.py: 539] +05/12 12:23:44 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179127m [env.py: 870] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19549764 -1.0953444 -0.17912719] yaw=-33.5deg [env.py: 1019] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1075] +05/12 12:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.195, -1.095, -0.179) [env.py: 1079] +05/12 12:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.5 deg [env.py: 1082] +05/12 12:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/12 12:23:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:23:46 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 12:23:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:23:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:23:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.950s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:54 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.716[m] 89.515[deg] [grasp_sample.py: 539] +05/12 12:23:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:23:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:23:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:24:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:24:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:24:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:24:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:24:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:24:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.442s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:24:12 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.184[m] 17.011[deg] [grasp_sample.py: 539] +05/12 12:24:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:24:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:24:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:24:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:24:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:24:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:24:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:24:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.524s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:24:32 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.180[m] 16.580[deg] [grasp_sample.py: 539] +05/12 12:24:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:24:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:24:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:42 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:24:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:24:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:24:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:24:48 INFO: [Worker 0] Object is not in grasp! 0.00099 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:24:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:24:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:24:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:24:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:24:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/12 12:24:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.461s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:24:48 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.180[m] 16.579[deg] [grasp_sample.py: 539] +05/12 12:24:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.478s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:24:48 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.050[m] 0.565[deg] [grasp_sample.py: 539] +05/12 12:24:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:24:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:24:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:24:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:24:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:24:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:24:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:25:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:25:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:25:00 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:25:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:01 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:25:01 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=False episode_total=4.49s: + episode_total: mean=21.47s, total=236.22s, count=11, min=212.7ms, max=107923.9ms + sensor_polling: mean=368.3ms, total=130.39s, count=354, min=307.3ms, max=603.9ms + physics_step: mean=21.3ms, total=7.56s, count=354, min=13.3ms, max=33.2ms + task_specific_sample: mean=469.1ms, total=5.16s, count=11, min=209.2ms, max=824.9ms + task_sampling: mean=561.1ms, total=4.49s, count=8, min=391.6ms, max=828.0ms + task_sampling_failed: mean=233.3ms, total=700.0ms, count=3, min=212.7ms, max=268.0ms + scene_randomize: mean=1.0ms, total=11.5ms, count=11, min=0.9ms, max=1.1ms + mj_forward_sync: mean=422.2us, total=4.6ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=12.5us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:25:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:25:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:25:01 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/12 12:25:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:25:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:25:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:25:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:25:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:25:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160754m [env.py: 870] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:25:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41666486 -1.03877277 -0.16075374] yaw=-58.6deg [env.py: 1019] +05/12 12:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:25:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=521.9ms, total=522.0ms [env.py: 1075] +05/12 12:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -1.039, -0.161) [env.py: 1079] +05/12 12:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/12 12:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 12:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:25:03 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 12:25:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:25:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:25:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:25:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:25:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.603s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:25:06 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.678[m] 87.988[deg] [grasp_sample.py: 539] +05/12 12:25:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:25:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:25:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:25:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:25:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:25:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.01s (batch: 4.09s, save: 8.93s) [pipeline.py: 300] +05/12 12:25:15 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=1.68s: + episode_total: mean=41.73s, total=166.94s, count=4, min=212.4ms, max=162531.1ms + sensor_polling: mean=367.7ms, total=104.78s, count=285, min=296.3ms, max=571.4ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8925.5ms, max=8925.5ms + physics_step: mean=24.0ms, total=6.83s, count=285, min=14.6ms, max=38.7ms + save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4088.2ms, max=4088.2ms + task_specific_sample: mean=469.2ms, total=1.88s, count=4, min=209.3ms, max=878.4ms + task_sampling: mean=558.9ms, total=1.68s, count=3, min=363.3ms, max=883.0ms + task_sampling_failed: mean=212.3ms, total=212.3ms, count=1, min=212.3ms, max=212.3ms + scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.0ms, max=2.9ms + mj_forward_sync: mean=457.2us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:25:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:25:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:25:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:25:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:25:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:25:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101401m [env.py: 870] +05/12 12:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:25:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56625256 -0.7236615 -0.101401 ] yaw=-75.2deg [env.py: 1019] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48501323 -0.87862625 -0.101401 ] yaw=-62.2deg [env.py: 1019] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35337028 -1.19665793 -0.101401 ] yaw=-44.5deg [env.py: 1019] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:25:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=384.1ms, total=384.2ms [env.py: 1075] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.724, -0.101) [env.py: 1079] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.2 deg [env.py: 1082] +05/12 12:25:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 12:25:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:25:17 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/12 12:25:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/12 12:25:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:25:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:25:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:25:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.325s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:25:18 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:25:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:25:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:25:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:25:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:25:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:25:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197925m [env.py: 870] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:25:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41365643 -0.8128177 -0.19792547] yaw=-65.2deg [env.py: 1019] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:25:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=464.8ms, total=464.8ms [env.py: 1075] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -0.813, -0.198) [env.py: 1079] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/12 12:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:25:20 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/12 12:25:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:25:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:25:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:25:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:25:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.422s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:25:22 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:25:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:25:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:25:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:25:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:25:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:25:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151578m [env.py: 870] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:25:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27918759 -1.03336176 -0.151578 ] yaw=-57.5deg [env.py: 1019] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33679103 -1.06248316 -0.151578 ] yaw=-38.2deg [env.py: 1019] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:25:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.1ms, total=267.1ms [env.py: 1075] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.033, -0.152) [env.py: 1079] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/12 12:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/12 12:25:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:25:24 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/12 12:25:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:25:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:25:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:25:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:25:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:25:25 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.769[m] 98.026[deg] [grasp_sample.py: 539] +05/12 12:25:26 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:25:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:25:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:25:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:25:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:25:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:25:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:25:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110906m [env.py: 870] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:25:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=649.3ms, total=649.4ms [env.py: 1105] +05/12 12:25:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:25:28 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:25:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:25:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:25:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:25:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:25:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:25:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191587m [env.py: 870] +05/12 12:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:25:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27649788 -0.99913996 -0.19158651] yaw=-51.3deg [env.py: 1019] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:25:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=558.9ms, total=558.9ms [env.py: 1075] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.999, -0.192) [env.py: 1079] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg [env.py: 1082] +05/12 12:25:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/12 12:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:25:30 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/12 12:25:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:25:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:25:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:25:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:25:32 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:25:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.006s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:25:39 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.760[m] 93.363[deg] [grasp_sample.py: 539] +05/12 12:25:40 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:25:41 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:25:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:25:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:25:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:25:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:25:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:25:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:25:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185768m [env.py: 870] +05/12 12:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:25:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65146946 -0.91472558 -0.18576786] yaw=-68.8deg [env.py: 1019] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:25:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=526.6ms, total=526.6ms [env.py: 1075] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.651, -0.915, -0.186) [env.py: 1079] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg [env.py: 1082] +05/12 12:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/12 12:25:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:25:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:25:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:25:43 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/12 12:25:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:25:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:25:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:25:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:25:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.519s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:25:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.672[m] 95.288[deg] [grasp_sample.py: 539] +05/12 12:25:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:25:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:25:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:25:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:25:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:26:00 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/12 12:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:26:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:26:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:26:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:26:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:26:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:26:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:26:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.24s (batch: 3.95s, save: 9.29s) [pipeline.py: 300] +05/12 12:26:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.434s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:26:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.534[m] 70.751[deg] [grasp_sample.py: 539] +05/12 12:26:10 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.47s: + episode_total: mean=175.99s, total=175.99s, count=1, min=175990.2ms, max=175990.2ms + sensor_polling: mean=376.2ms, total=112.87s, count=300, min=299.5ms, max=698.2ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.6ms, max=9289.6ms + physics_step: mean=25.0ms, total=7.49s, count=300, min=19.6ms, max=49.9ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3947.8ms, max=3947.8ms + task_sampling: mean=474.2ms, total=474.2ms, count=1, min=474.2ms, max=474.2ms + task_specific_sample: mean=471.7ms, total=471.7ms, count=1, min=471.7ms, max=471.7ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=431.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:26:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:26:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:26:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:26:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:26:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:26:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142549m [env.py: 870] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:26:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:26:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=238.0ms, total=238.0ms [env.py: 1105] +05/12 12:26:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:26:11 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:26:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:26:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:26:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180571m [env.py: 870] +05/12 12:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:26:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:26:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:26:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.19s (batch: 3.36s, save: 8.83s) [pipeline.py: 300] +05/12 12:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=608.0ms, total=608.0ms [env.py: 1105] +05/12 12:26:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:26:13 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:13 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.86s: + episode_total: mean=86.77s, total=173.54s, count=2, min=25500.2ms, max=148038.3ms + sensor_polling: mean=341.2ms, total=109.20s, count=320, min=299.0ms, max=739.3ms + save_trajectories: mean=8.83s, total=8.83s, count=1, min=8831.5ms, max=8831.5ms + physics_step: mean=22.3ms, total=7.13s, count=320, min=15.6ms, max=33.5ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3360.3ms, max=3360.3ms + task_sampling: mean=431.1ms, total=862.2ms, count=2, min=411.4ms, max=450.8ms + task_specific_sample: mean=428.1ms, total=856.2ms, count=2, min=408.7ms, max=447.4ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.0ms, max=2.1ms + mj_forward_sync: mean=399.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:26:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:26:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:26:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:26:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187415m [env.py: 870] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:26:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61276891 -0.78002543 -0.18741533] yaw=-69.3deg [env.py: 1019] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30867264 -1.20701042 -0.18741533] yaw=-44.0deg [env.py: 1019] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:26:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.3ms [env.py: 1075] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.613, -0.780, -0.187) [env.py: 1079] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg [env.py: 1082] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:26:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:26:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:26:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129808m [env.py: 870] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:26:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:26:15 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 12:26:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:26:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:26:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.9ms, total=204.0ms [env.py: 1105] +05/12 12:26:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:26:15 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:26:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:26:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:26:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:26:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133070m [env.py: 870] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:26:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39611602 -0.97304647 -0.13307016] yaw=-44.7deg [env.py: 1019] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33077707 -0.93845375 -0.13307016] yaw=-42.5deg [env.py: 1019] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:26:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.7ms, total=193.7ms [env.py: 1075] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.396, -0.973, -0.133) [env.py: 1079] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg [env.py: 1082] +05/12 12:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 12:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:26:17 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 12:26:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 12:26:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:26:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:26:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.457s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:26:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.743[m] 85.396[deg] [grasp_sample.py: 539] +05/12 12:26:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:26:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:26:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.013s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:26:21 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.734[m] 92.028[deg] [grasp_sample.py: 539] +05/12 12:26:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:26:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:26:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:26:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:26:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:26:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:26:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:26:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:26:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.531[m] 70.071[deg] [grasp_sample.py: 539] +05/12 12:26:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:26:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:26:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:26:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:26:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:26:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:26:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:26:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:26:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.531[m] 70.071[deg] [grasp_sample.py: 539] +05/12 12:26:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:26:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:26:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:26:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:26:53 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:26:53 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:26:53 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=3.43s: + episode_total: mean=15.04s, total=90.27s, count=6, min=672.9ms, max=70503.7ms + sensor_polling: mean=358.8ms, total=25.83s, count=72, min=301.2ms, max=560.3ms + task_specific_sample: mean=680.0ms, total=4.08s, count=6, min=471.2ms, max=839.0ms + task_sampling: mean=685.3ms, total=3.43s, count=5, min=473.4ms, max=841.1ms + physics_step: mean=19.6ms, total=1.41s, count=72, min=13.2ms, max=32.4ms + task_sampling_failed: mean=672.8ms, total=672.8ms, count=1, min=672.8ms, max=672.8ms + scene_randomize: mean=1.3ms, total=7.6ms, count=6, min=0.9ms, max=2.5ms + mj_forward_sync: mean=440.8us, total=2.6ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=13.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:26:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:26:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179190m [env.py: 870] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20011853 -1.0215567 -0.17918996] yaw=-37.5deg [env.py: 1019] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36874114 -0.93758321 -0.17918996] yaw=-49.6deg [env.py: 1019] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:26:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.0ms, total=256.1ms [env.py: 1075] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.022, -0.179) [env.py: 1079] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 12:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:26:55 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/12 12:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/12 12:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:26:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:26:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:26:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.395s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:26:57 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 12:26:57 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: unsupported operand type(s) for %: 'NoneType' and 'int' [task_sampler.py: 396] +05/12 12:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152741m [env.py: 870] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.2ms, total=224.3ms [env.py: 1105] +05/12 12:26:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:26:59 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188745m [env.py: 870] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64126062 -0.9341102 -0.18874536] yaw=-64.0deg [env.py: 1019] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51865383 -0.76301883 -0.18874536] yaw=-68.5deg [env.py: 1019] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.3ms [env.py: 1075] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.934, -0.189) [env.py: 1079] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:00 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:02 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.647[m] 83.334[deg] [grasp_sample.py: 539] +05/12 12:27:03 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:27:04 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:27:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162395m [env.py: 870] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.3ms, total=205.3ms [env.py: 1105] +05/12 12:27:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:27:05 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143980m [env.py: 870] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50024079 -0.86032574 -0.14398022] yaw=-70.9deg [env.py: 1019] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18246587 -1.10390722 -0.14398022] yaw=-33.7deg [env.py: 1019] +05/12 12:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.8ms [env.py: 1075] +05/12 12:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -0.860, -0.144) [env.py: 1079] +05/12 12:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg [env.py: 1082] +05/12 12:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 12:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:07 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:08 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.760[m] 81.288[deg] [grasp_sample.py: 539] +05/12 12:27:09 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:27:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141558m [env.py: 870] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.4ms, total=203.5ms [env.py: 1105] +05/12 12:27:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:27:11 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:27:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168809m [env.py: 870] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.0ms, total=194.0ms [env.py: 1105] +05/12 12:27:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:27:12 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127932m [env.py: 870] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.9ms, total=230.9ms [env.py: 1105] +05/12 12:27:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:27:14 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126537m [env.py: 870] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27993037 -0.98600393 -0.12653694] yaw=-57.6deg [env.py: 1019] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.9ms, total=269.9ms [env.py: 1075] +05/12 12:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -0.986, -0.127) [env.py: 1079] +05/12 12:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/12 12:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/12 12:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:16 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.018s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:18 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.774[m] 82.931[deg] [grasp_sample.py: 539] +05/12 12:27:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:19 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:27:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:27:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:27:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157566m [env.py: 870] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=357.2ms, total=357.2ms [env.py: 1105] +05/12 12:27:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:27:21 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:27:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110186m [env.py: 870] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33378766 -0.94692931 -0.11018595] yaw=-55.7deg [env.py: 1019] +05/12 12:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31289911 -1.1490438 -0.11018595] yaw=-44.1deg [env.py: 1019] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31726478 -1.15544344 -0.11018595] yaw=-48.1deg [env.py: 1019] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=340.0ms, total=340.1ms [env.py: 1075] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -0.947, -0.110) [env.py: 1079] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/12 12:27:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/12 12:27:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:27:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:27:23 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/12 12:27:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:23 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.449s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:26 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.094[m] 5.793[deg] [grasp_sample.py: 539] +05/12 12:27:27 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:27:27 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/12 12:27:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151637m [env.py: 870] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4505497 -1.00907463 -0.15163741] yaw=-45.5deg [env.py: 1019] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.5ms, total=232.6ms [env.py: 1075] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -1.009, -0.152) [env.py: 1079] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 12:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:28 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.283s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:29 INFO: [Worker 0] Feasible grasp found 335 (originally 335): w/ 0.116[m] 19.207[deg] [grasp_sample.py: 539] +05/12 12:27:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.358s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:31 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.789[m] 86.550[deg] [grasp_sample.py: 539] +05/12 12:27:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.245s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:33 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.664[m] 83.691[deg] [grasp_sample.py: 539] +05/12 12:27:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:27:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:27:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:27:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:27:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.20s (batch: 2.54s, save: 8.66s) [pipeline.py: 300] +05/12 12:27:34 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.75s: + episode_total: mean=152.24s, total=152.24s, count=1, min=152244.5ms, max=152244.5ms + sensor_polling: mean=384.1ms, total=103.71s, count=270, min=316.6ms, max=733.3ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8663.6ms, max=8663.6ms + physics_step: mean=22.6ms, total=6.11s, count=270, min=14.7ms, max=86.0ms + save_batch_prep: mean=2.54s, total=2.54s, count=1, min=2538.8ms, max=2538.8ms + task_sampling: mean=747.9ms, total=747.9ms, count=1, min=747.9ms, max=747.9ms + task_specific_sample: mean=745.5ms, total=745.5ms, count=1, min=745.5ms, max=745.5ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=446.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=10.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:27:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153311m [env.py: 870] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.191s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46509067 -0.96394141 -0.15331149] yaw=-64.0deg [env.py: 1019] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.2ms, total=223.3ms [env.py: 1075] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.964, -0.153) [env.py: 1079] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg [env.py: 1082] +05/12 12:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:36 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.877s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.706[m] 87.924[deg] [grasp_sample.py: 539] +05/12 12:27:41 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:27:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.236s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:42 INFO: [Worker 0] Feasible grasp found 552 (originally 552): w/ 0.263[m] 24.967[deg] [grasp_sample.py: 539] +05/12 12:27:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199763m [env.py: 870] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49819498 -0.99778509 -0.19976259] yaw=-47.9deg [env.py: 1019] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.0ms, total=219.0ms [env.py: 1075] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.998, -0.200) [env.py: 1079] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg [env.py: 1082] +05/12 12:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:43 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:27:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.615s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.647[m] 86.389[deg] [grasp_sample.py: 539] +05/12 12:27:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:27:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.725s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:52 INFO: [Worker 0] Feasible grasp found 599 (originally 599): w/ 0.446[m] 35.302[deg] [grasp_sample.py: 539] +05/12 12:27:53 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:27:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178428m [env.py: 870] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18799251 -0.99241444 -0.17842848] yaw=-36.8deg [env.py: 1019] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.6ms, total=246.7ms [env.py: 1075] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -0.992, -0.178) [env.py: 1079] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg [env.py: 1082] +05/12 12:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:55 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:27:57 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:27:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:27:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:27:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:27:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102806m [env.py: 870] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:27:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41713932 -1.06994363 -0.10280631] yaw=-50.4deg [env.py: 1019] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21476024 -0.95530365 -0.10280631] yaw=-43.6deg [env.py: 1019] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.6ms, total=217.6ms [env.py: 1075] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -1.070, -0.103) [env.py: 1079] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/12 12:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:27:59 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/12 12:27:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:27:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:28:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.517s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:28:02 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.707[m] 92.067[deg] [grasp_sample.py: 539] +05/12 12:28:03 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:28:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:28:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:28:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:28:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:28:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:28:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:28:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173042m [env.py: 870] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:28:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.5ms, total=225.6ms [env.py: 1105] +05/12 12:28:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:28:05 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:28:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:28:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:28:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:28:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:28:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:28:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:28:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132333m [env.py: 870] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:28:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57450415 -0.91954967 -0.13233259] yaw=-54.7deg [env.py: 1019] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40131233 -1.06171985 -0.13233259] yaw=-46.0deg [env.py: 1019] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:28:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.8ms [env.py: 1075] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.920, -0.132) [env.py: 1079] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg [env.py: 1082] +05/12 12:28:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:28:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:28:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:28:07 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 12:28:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:28:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:28:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:28:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:28:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:28:11 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.704[m] 97.350[deg] [grasp_sample.py: 539] +05/12 12:28:13 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:28:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:28:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:28:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:28:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:28:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:28:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:28:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142576m [env.py: 870] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:28:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29523225 -0.93022161 -0.14257589] yaw=-52.3deg [env.py: 1019] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32154895 -1.12452178 -0.14257589] yaw=-42.4deg [env.py: 1019] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.61205799 -0.87116676 -0.14257589] yaw=-77.0deg [env.py: 1019] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.7ms, total=162.7ms [env.py: 1075] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -0.930, -0.143) [env.py: 1079] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/12 12:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:28:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:28:14 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 12:28:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:28:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:28:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:28:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:28:16 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:28:16 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/12 12:28:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:28:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:28:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:28:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:28:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:28:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:28:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173722m [env.py: 870] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:28:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39021339 -0.98570924 -0.17372159] yaw=-47.4deg [env.py: 1019] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11677745 -1.07383986 -0.17372159] yaw=-41.1deg [env.py: 1019] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33132494 -0.87303822 -0.17372159] yaw=-53.1deg [env.py: 1019] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:28:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.6ms [env.py: 1075] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -0.986, -0.174) [env.py: 1079] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/12 12:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:28:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:28:17 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 12:28:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:28:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:28:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:28:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:28:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.660s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:28:22 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.690[m] 82.681[deg] [grasp_sample.py: 539] +05/12 12:28:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:28:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:28:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:28:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:28:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:28:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:29:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:29:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:29:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:29:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 371 non-colliding grasps [grasp_sample.py: 465] +05/12 12:29:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.519s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:29:03 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.040[m] 3.493[deg] [grasp_sample.py: 539] +05/12 12:29:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:29:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:29:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:29:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:29:16 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:29:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:27 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:29:38 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:29:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:29:38 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/12 12:29:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:29:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:29:49 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 12:29:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:29:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:29:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.98s (batch: 3.56s, save: 8.42s) [pipeline.py: 300] +05/12 12:29:51 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.89s: + episode_total: mean=54.02s, total=216.07s, count=4, min=248.1ms, max=142765.5ms + sensor_polling: mean=338.7ms, total=139.53s, count=412, min=294.9ms, max=630.0ms + physics_step: mean=22.1ms, total=9.10s, count=412, min=14.6ms, max=62.3ms + save_trajectories: mean=8.42s, total=8.42s, count=1, min=8420.8ms, max=8420.8ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3558.0ms, max=3558.0ms + task_specific_sample: mean=435.5ms, total=1.74s, count=4, min=243.8ms, max=612.7ms + task_sampling: mean=444.9ms, total=889.8ms, count=2, min=443.2ms, max=446.6ms + task_sampling_failed: mean=432.0ms, total=864.1ms, count=2, min=248.1ms, max=616.0ms + scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=0.9ms, max=2.6ms + mj_forward_sync: mean=406.3us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:29:52 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:29:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:29:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:29:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:29:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:29:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:29:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:29:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180512m [env.py: 870] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:29:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=382.4ms, total=382.5ms [env.py: 1105] +05/12 12:29:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:29:52 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:29:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:29:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:29:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:29:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:29:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:29:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:29:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139709m [env.py: 870] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:29:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33161724 -0.85544189 -0.139709 ] yaw=-55.4deg [env.py: 1019] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:29:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.5ms, total=263.6ms [env.py: 1075] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -0.855, -0.140) [env.py: 1079] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg [env.py: 1082] +05/12 12:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:29:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:29:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:29:54 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/12 12:29:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/12 12:29:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:29:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:29:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:29:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.342s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:29:56 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:29:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:29:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:29:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:29:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:29:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:29:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:29:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162571m [env.py: 870] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:29:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46920837 -0.95713408 -0.16257088] yaw=-67.8deg [env.py: 1019] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:29:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.3ms, total=263.4ms [env.py: 1075] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.957, -0.163) [env.py: 1079] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.8 deg [env.py: 1082] +05/12 12:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:29:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:29:58 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/12 12:29:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:29:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:29:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:29:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:29:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.757s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:29:59 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.662[m] 89.055[deg] [grasp_sample.py: 539] +05/12 12:30:01 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:30:01 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:30:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:30:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.38s (batch: 3.38s, save: 9.99s) [pipeline.py: 300] +05/12 12:30:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171534m [env.py: 870] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48164617 -1.05374386 -0.17153391] yaw=-61.0deg [env.py: 1019] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.2ms, total=253.2ms [env.py: 1075] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -1.054, -0.172) [env.py: 1079] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/12 12:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:30:03 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/12 12:30:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:03 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=2.43s: + episode_total: mean=15.95s, total=175.44s, count=11, min=201.7ms, max=160539.5ms + sensor_polling: mean=364.8ms, total=106.16s, count=291, min=302.0ms, max=631.2ms + save_trajectories: mean=9.99s, total=9.99s, count=1, min=9994.7ms, max=9994.7ms + physics_step: mean=23.9ms, total=6.96s, count=291, min=14.2ms, max=42.5ms + task_specific_sample: mean=351.4ms, total=3.87s, count=11, min=198.8ms, max=542.4ms + save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3382.7ms, max=3382.7ms + task_sampling: mean=486.2ms, total=2.43s, count=5, min=413.0ms, max=544.9ms + task_sampling_failed: mean=244.4ms, total=1.47s, count=6, min=201.7ms, max=365.4ms + scene_randomize: mean=1.0ms, total=11.4ms, count=11, min=0.9ms, max=1.3ms + mj_forward_sync: mean=418.3us, total=4.6ms, count=11, min=0.4ms, max=0.6ms + policy_setup: mean=13.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:30:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108569m [env.py: 870] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.0ms, total=214.1ms [env.py: 1105] +05/12 12:30:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:30:05 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:30:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.745s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.654[m] 90.259[deg] [grasp_sample.py: 539] +05/12 12:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171202m [env.py: 870] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.0ms, total=202.0ms [env.py: 1105] +05/12 12:30:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:30:06 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:30:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125345m [env.py: 870] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.9ms, total=205.9ms [env.py: 1105] +05/12 12:30:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:30:07 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:30:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194259m [env.py: 870] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20233108 -1.17201212 -0.19425918] yaw=-45.3deg [env.py: 1019] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54954538 -1.03628536 -0.19425918] yaw=-61.7deg [env.py: 1019] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=208.3ms, total=208.3ms [env.py: 1075] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.172, -0.194) [env.py: 1079] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.3 deg [env.py: 1082] +05/12 12:30:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:30:09 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 12:30:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:30:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:30:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:30:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.028s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:14 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.731[m] 84.588[deg] [grasp_sample.py: 539] +05/12 12:30:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:30:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:30:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:30:20 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/12 12:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:30:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:30:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.99s (batch: 3.27s, save: 9.72s) [pipeline.py: 300] +05/12 12:30:25 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.91s: + episode_total: mean=84.23s, total=168.46s, count=2, min=5600.6ms, max=162863.2ms + sensor_polling: mean=379.1ms, total=113.72s, count=300, min=333.0ms, max=666.4ms + save_trajectories: mean=9.72s, total=9.72s, count=1, min=9720.6ms, max=9720.6ms + physics_step: mean=22.6ms, total=6.78s, count=300, min=14.8ms, max=33.9ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3269.8ms, max=3269.8ms + task_sampling: mean=452.5ms, total=905.0ms, count=2, min=443.2ms, max=461.8ms + task_specific_sample: mean=449.5ms, total=899.0ms, count=2, min=440.8ms, max=458.1ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=0.9ms, max=2.3ms + mj_forward_sync: mean=389.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158212m [env.py: 870] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=385.3ms, total=385.3ms [env.py: 1105] +05/12 12:30:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:30:27 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199254m [env.py: 870] +05/12 12:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=539.8ms, total=539.9ms [env.py: 1105] +05/12 12:30:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:30:29 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113603m [env.py: 870] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35461021 -1.01819882 -0.11360318] yaw=-50.2deg [env.py: 1019] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.1ms, total=351.2ms [env.py: 1075] +05/12 12:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.355, -1.018, -0.114) [env.py: 1079] +05/12 12:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/12 12:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 12:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:30:31 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 12:30:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:30:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:30:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:30:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:30:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.20s (batch: 3.24s, save: 8.96s) [pipeline.py: 300] +05/12 12:30:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.540s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:32 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.765[m] 92.577[deg] [grasp_sample.py: 539] +05/12 12:30:33 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=2.56s: + episode_total: mean=31.12s, total=248.96s, count=8, min=214.4ms, max=135964.3ms + sensor_polling: mean=330.6ms, total=142.82s, count=432, min=295.9ms, max=523.7ms + physics_step: mean=21.4ms, total=9.26s, count=432, min=15.0ms, max=36.9ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8961.1ms, max=8961.1ms + save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3237.9ms, max=3237.9ms + task_specific_sample: mean=373.1ms, total=2.98s, count=8, min=210.0ms, max=476.8ms + task_sampling: mean=426.5ms, total=2.56s, count=6, min=364.1ms, max=479.2ms + task_sampling_failed: mean=224.4ms, total=448.8ms, count=2, min=214.4ms, max=234.4ms + scene_randomize: mean=1.2ms, total=9.6ms, count=8, min=0.9ms, max=2.5ms + mj_forward_sync: mean=412.3us, total=3.3ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=14.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:30:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.487[m] 62.323[deg] [grasp_sample.py: 539] +05/12 12:30:34 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:30:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113495m [env.py: 870] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.2ms, total=226.2ms [env.py: 1105] +05/12 12:30:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:30:34 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:30:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153576m [env.py: 870] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.67083262 -0.9577698 -0.15357575] yaw=-66.5deg [env.py: 1019] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32199992 -0.95513142 -0.15357575] yaw=-54.4deg [env.py: 1019] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=449.8ms, total=449.9ms [env.py: 1075] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.671, -0.958, -0.154) [env.py: 1079] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg [env.py: 1082] +05/12 12:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:30:36 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 12:30:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:30:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:30:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:30:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115245m [env.py: 870] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:30:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:30:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3410447 -1.03870056 -0.11524492] yaw=-41.0deg [env.py: 1019] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39193124 -0.80635711 -0.11524492] yaw=-50.3deg [env.py: 1019] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=208.5ms, total=208.6ms [env.py: 1075] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.341, -1.039, -0.115) [env.py: 1079] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg [env.py: 1082] +05/12 12:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.241s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:30:36 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 12:30:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.507s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.659[m] 83.965[deg] [grasp_sample.py: 539] +05/12 12:30:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.439s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:38 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.694[m] 81.687[deg] [grasp_sample.py: 539] +05/12 12:30:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:30:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.413s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.487[m] 62.324[deg] [grasp_sample.py: 539] +05/12 12:30:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:30:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:30:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:30:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.879s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:31:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.487[m] 62.324[deg] [grasp_sample.py: 539] +05/12 12:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:31:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:31:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:31:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:31:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:31:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:31:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.926s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:31:06 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.527[m] 61.121[deg] [grasp_sample.py: 539] +05/12 12:31:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:31:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:31:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:31:12 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:31:12 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:31:12 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=1.58s: + episode_total: mean=19.12s, total=76.48s, count=4, min=393.8ms, max=70353.0ms + sensor_polling: mean=330.6ms, total=25.12s, count=76, min=299.2ms, max=605.9ms + task_specific_sample: mean=490.1ms, total=1.96s, count=4, min=388.3ms, max=581.9ms + task_sampling: mean=526.7ms, total=1.58s, count=3, min=490.8ms, max=585.3ms + physics_step: mean=18.5ms, total=1.41s, count=76, min=13.0ms, max=30.2ms + task_sampling_failed: mean=393.8ms, total=393.8ms, count=1, min=393.8ms, max=393.8ms + scene_randomize: mean=1.5ms, total=6.0ms, count=4, min=1.0ms, max=2.6ms + mj_forward_sync: mean=468.8us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=15.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:31:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:31:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:31:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:31:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:31:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:31:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:31:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174537m [env.py: 870] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:31:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59595109 -1.01087336 -0.17453722] yaw=-68.7deg [env.py: 1019] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36322359 -0.84341651 -0.17453722] yaw=-49.0deg [env.py: 1019] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.66533159 -0.95897996 -0.17453722] yaw=-68.2deg [env.py: 1019] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.6ms, total=178.7ms [env.py: 1075] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -1.011, -0.175) [env.py: 1079] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg [env.py: 1082] +05/12 12:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:31:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:31:14 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/12 12:31:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:31:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:31:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:31:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.691s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:31:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.594[m] 93.979[deg] [grasp_sample.py: 539] +05/12 12:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:31:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:31:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:31:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:31:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:31:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:31:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:31:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.355s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:31:22 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.527[m] 61.124[deg] [grasp_sample.py: 539] +05/12 12:31:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:31:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:31:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:31:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:31:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:31:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:31:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:31:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:31:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:31:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:31:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.890s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:31:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.475[m] 70.113[deg] [grasp_sample.py: 539] +05/12 12:31:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:31:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.199s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:31:38 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.527[m] 61.124[deg] [grasp_sample.py: 539] +05/12 12:31:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:31:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:31:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:31:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:31:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:31:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:31:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:31:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:31:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:31:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.689s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:31:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.475[m] 70.115[deg] [grasp_sample.py: 539] +05/12 12:31:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:31:50 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:31:50 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=False episode_total=1.24s: + episode_total: mean=19.91s, total=79.65s, count=4, min=394.9ms, max=75147.1ms + sensor_polling: mean=352.2ms, total=25.36s, count=72, min=313.1ms, max=546.1ms + task_specific_sample: mean=543.4ms, total=2.17s, count=4, min=390.8ms, max=644.3ms + physics_step: mean=17.7ms, total=1.28s, count=72, min=13.1ms, max=24.0ms + task_sampling: mean=621.6ms, total=1.24s, count=2, min=596.4ms, max=646.7ms + task_sampling_failed: mean=471.4ms, total=942.7ms, count=2, min=394.9ms, max=547.8ms + scene_randomize: mean=1.4ms, total=5.4ms, count=4, min=0.9ms, max=2.0ms + mj_forward_sync: mean=389.7us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:31:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:31:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:31:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:31:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:31:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:31:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:31:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:31:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166429m [env.py: 870] +05/12 12:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:31:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56074066 -0.80590874 -0.16642914] yaw=-68.1deg [env.py: 1019] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:31:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms [env.py: 1075] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.806, -0.166) [env.py: 1079] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.1 deg [env.py: 1082] +05/12 12:31:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/12 12:31:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:31:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:31:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:31:52 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 12:31:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:31:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:31:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:31:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:32:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:32:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.475[m] 70.115[deg] [grasp_sample.py: 539] +05/12 12:32:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:32:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:32:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.527s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:06 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.762[m] 97.772[deg] [grasp_sample.py: 539] +05/12 12:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:07 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192064m [env.py: 870] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.40379343 -1.0025864 -0.19206379] yaw=-42.5deg [env.py: 1019] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26272588 -1.02363022 -0.19206379] yaw=-41.9deg [env.py: 1019] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:32:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms [env.py: 1075] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.003, -0.192) [env.py: 1079] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/12 12:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:32:08 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 12:32:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:32:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.062s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.680[m] 85.369[deg] [grasp_sample.py: 539] +05/12 12:32:10 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:11 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110440m [env.py: 870] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=228.9ms, total=229.0ms [env.py: 1105] +05/12 12:32:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:32:12 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:32:13 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103060m [env.py: 870] +05/12 12:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15468848 -1.08341842 -0.10305968] yaw=-45.7deg [env.py: 1019] +05/12 12:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:32:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.9ms, total=193.0ms [env.py: 1075] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.155, -1.083, -0.103) [env.py: 1079] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg [env.py: 1082] +05/12 12:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 12:32:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:14 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:32:14 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=False episode_total=0.39s: + episode_total: mean=60.16s, total=60.16s, count=1, min=60157.9ms, max=60157.9ms + sensor_polling: mean=327.2ms, total=21.60s, count=66, min=313.3ms, max=546.9ms + physics_step: mean=17.7ms, total=1.17s, count=66, min=13.1ms, max=24.2ms + task_sampling: mean=389.1ms, total=389.1ms, count=1, min=389.1ms, max=389.1ms + task_specific_sample: mean=386.9ms, total=386.9ms, count=1, min=386.9ms, max=386.9ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:32:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:32:14 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 12:32:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:32:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126272m [env.py: 870] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.317s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:32:15 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53028924 -0.83158792 -0.1262717 ] yaw=-69.9deg [env.py: 1019] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:32:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.3ms [env.py: 1075] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.832, -0.126) [env.py: 1079] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.9 deg [env.py: 1082] +05/12 12:32:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:32:16 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/12 12:32:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 12:32:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127246m [env.py: 870] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.8ms, total=208.9ms [env.py: 1105] +05/12 12:32:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:32:17 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:32:18 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:32:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132149m [env.py: 870] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44823749 -1.05867734 -0.13214883] yaw=-53.2deg [env.py: 1019] +05/12 12:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:32:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.8ms [env.py: 1075] +05/12 12:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -1.059, -0.132) [env.py: 1079] +05/12 12:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg [env.py: 1082] +05/12 12:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/12 12:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:32:19 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 12:32:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:32:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.653[m] 89.766[deg] [grasp_sample.py: 539] +05/12 12:32:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:32:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:32:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:32:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.792s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:24 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.788[m] 80.217[deg] [grasp_sample.py: 539] +05/12 12:32:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:32:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:32:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:32:30 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:32:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:32:30 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/12 12:32:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:32:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:32:37 INFO: [Worker 0] Preparing episode data: 275 timesteps [save_utils.py: 278] +05/12 12:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:32:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:32:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.35s (batch: 3.36s, save: 10.99s) [pipeline.py: 300] +05/12 12:32:45 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.46s: + episode_total: mean=39.25s, total=156.98s, count=4, min=210.1ms, max=156334.9ms + sensor_polling: mean=384.9ms, total=107.38s, count=279, min=295.9ms, max=750.4ms + save_trajectories: mean=10.99s, total=10.99s, count=1, min=10991.7ms, max=10991.7ms + physics_step: mean=23.9ms, total=6.67s, count=279, min=14.6ms, max=57.1ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3359.0ms, max=3359.0ms + task_specific_sample: mean=274.2ms, total=1.10s, count=4, min=206.8ms, max=459.0ms + task_sampling_failed: mean=215.9ms, total=647.6ms, count=3, min=210.1ms, max=224.0ms + task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms + scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=1.0ms, max=1.8ms + mj_forward_sync: mean=401.5us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160797m [env.py: 870] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=723.6ms, total=723.7ms [env.py: 1105] +05/12 12:32:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:32:47 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:32:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:32:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134525m [env.py: 870] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24036277 -0.92175505 -0.13452465] yaw=-37.5deg [env.py: 1019] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:32:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.4ms, total=220.4ms [env.py: 1075] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -0.922, -0.135) [env.py: 1079] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/12 12:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:32:49 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 12:32:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 12:32:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.530s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:50 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.488[m] 61.393[deg] [grasp_sample.py: 539] +05/12 12:32:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:32:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:32:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:32:51 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:32:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:32:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:32:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.20s (batch: 3.89s, save: 10.31s) [pipeline.py: 300] +05/12 12:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150007m [env.py: 870] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.1ms, total=211.1ms [env.py: 1105] +05/12 12:32:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:32:52 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:32:52 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.51s: + episode_total: mean=68.37s, total=136.73s, count=2, min=236.4ms, max=136494.0ms + sensor_polling: mean=335.2ms, total=91.85s, count=274, min=302.0ms, max=538.4ms + save_trajectories: mean=10.31s, total=10.31s, count=1, min=10312.2ms, max=10312.2ms + physics_step: mean=21.6ms, total=5.92s, count=274, min=15.1ms, max=32.2ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3891.1ms, max=3891.1ms + task_specific_sample: mean=371.1ms, total=742.1ms, count=2, min=231.7ms, max=510.4ms + task_sampling: mean=512.9ms, total=512.9ms, count=1, min=512.9ms, max=512.9ms + task_sampling_failed: mean=236.4ms, total=236.4ms, count=1, min=236.4ms, max=236.4ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=0.9ms, max=2.6ms + mj_forward_sync: mean=398.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105603m [env.py: 870] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43228728 -0.89482774 -0.1056031 ] yaw=-58.3deg [env.py: 1019] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:32:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:32:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:32:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:32:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147967m [env.py: 870] +05/12 12:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:32:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:32:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=212.8ms, total=212.8ms [env.py: 1075] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.432, -0.895, -0.106) [env.py: 1079] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32758186 -1.06286312 -0.14796743] yaw=-51.4deg [env.py: 1019] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:32:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:32:54 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63160634 -0.83823215 -0.14796743] yaw=-77.3deg [env.py: 1019] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:32:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=309.2ms, total=309.2ms [env.py: 1075] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.063, -0.148) [env.py: 1079] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg [env.py: 1082] +05/12 12:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:32:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/12 12:32:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:32:54 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/12 12:32:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 12:32:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:32:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.075s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.733[m] 90.948[deg] [grasp_sample.py: 539] +05/12 12:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:32:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:32:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.652s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:59 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.748[m] 85.190[deg] [grasp_sample.py: 539] +05/12 12:32:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:32:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:32:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:32:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:33:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:33:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:33:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.288s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:33:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.488[m] 61.395[deg] [grasp_sample.py: 539] +05/12 12:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:33:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:33:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:33:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:33:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:33:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.356s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:33:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.488[m] 61.395[deg] [grasp_sample.py: 539] +05/12 12:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:33:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:33:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:33:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:33:28 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:33:28 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=False episode_total=1.65s: + episode_total: mean=14.91s, total=89.44s, count=6, min=217.8ms, max=69226.9ms + sensor_polling: mean=366.4ms, total=28.21s, count=77, min=310.8ms, max=533.9ms + task_specific_sample: mean=348.5ms, total=2.09s, count=6, min=214.5ms, max=437.0ms + task_sampling: mean=412.5ms, total=1.65s, count=4, min=391.7ms, max=439.8ms + physics_step: mean=18.3ms, total=1.41s, count=77, min=13.0ms, max=28.5ms + task_sampling_failed: mean=230.7ms, total=461.3ms, count=2, min=217.8ms, max=243.5ms + scene_randomize: mean=1.2ms, total=7.0ms, count=6, min=1.0ms, max=1.6ms + mj_forward_sync: mean=472.0us, total=2.8ms, count=6, min=0.4ms, max=0.8ms + policy_setup: mean=14.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:33:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:33:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:33:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:33:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:33:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:33:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123678m [env.py: 870] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:33:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51107623 -1.05210922 -0.12367814] yaw=-62.2deg [env.py: 1019] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54763961 -0.9307504 -0.12367814] yaw=-52.1deg [env.py: 1019] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.6ms, total=238.7ms [env.py: 1075] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -1.052, -0.124) [env.py: 1079] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/12 12:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:33:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:33:29 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 12:33:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:33:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:33:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.536s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:33:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.674[m] 89.900[deg] [grasp_sample.py: 539] +05/12 12:33:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:33:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:33:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:33:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:33:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:33:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.160s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:33:38 INFO: [Worker 0] Feasible grasp found 555 (originally 555): w/ 0.154[m] 14.219[deg] [grasp_sample.py: 539] +05/12 12:33:39 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:33:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:33:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:33:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:33:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:33:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:33:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:33:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127883m [env.py: 870] +05/12 12:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:33:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33449554 -1.03370097 -0.12788305] yaw=-45.8deg [env.py: 1019] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:33:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=558.6ms, total=558.6ms [env.py: 1075] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -1.034, -0.128) [env.py: 1079] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg [env.py: 1082] +05/12 12:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 12:33:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:33:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:33:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:33:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:33:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:33:41 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/12 12:33:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/12 12:33:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.969s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:33:47 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.750[m] 92.101[deg] [grasp_sample.py: 539] +05/12 12:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:48 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:33:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:33:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:33:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:33:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:33:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:33:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:33:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:33:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166429m [env.py: 870] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:33:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=526.5ms, total=526.5ms [env.py: 1105] +05/12 12:33:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:33:50 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:33:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:33:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:33:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:33:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102689m [env.py: 870] +05/12 12:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59347079 -0.87677454 -0.10268879] yaw=-78.1deg [env.py: 1019] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:33:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=306.7ms, total=306.8ms [env.py: 1075] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.877, -0.103) [env.py: 1079] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.1 deg [env.py: 1082] +05/12 12:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/12 12:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:33:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:33:52 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/12 12:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 12:33:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.360s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:33:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.712[m] 91.922[deg] [grasp_sample.py: 539] +05/12 12:33:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:33:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:33:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:33:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:33:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:33:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:33:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:33:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.404s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:00 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.520[m] 65.062[deg] [grasp_sample.py: 539] +05/12 12:34:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:34:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.925s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:09 INFO: [Worker 0] Feasible grasp found 179 (originally 179): w/ 0.094[m] 36.440[deg] [grasp_sample.py: 539] +05/12 12:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:10 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:34:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:34:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:34:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:34:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:34:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:34:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:34:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193819m [env.py: 870] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:34:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.609494 -0.90262111 -0.19381921] yaw=-57.0deg [env.py: 1019] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55418152 -1.00404593 -0.19381921] yaw=-62.7deg [env.py: 1019] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:34:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.9ms [env.py: 1075] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.903, -0.194) [env.py: 1079] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg [env.py: 1082] +05/12 12:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:34:12 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 12:34:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:34:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.416s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.645[m] 86.110[deg] [grasp_sample.py: 539] +05/12 12:34:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.615s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.516[m] 64.387[deg] [grasp_sample.py: 539] +05/12 12:34:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:34:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:34:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:34:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.404s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.561[m] 68.400[deg] [grasp_sample.py: 539] +05/12 12:34:24 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:34:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:34:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:34:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:34:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:34:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118507m [env.py: 870] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:34:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:34:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:34:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=480.8ms, total=480.8ms [env.py: 1105] +05/12 12:34:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:34:26 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:34:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:34:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:34:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:34:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:34:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:34:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:34:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142088m [env.py: 870] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:34:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=312.5ms, total=312.6ms [env.py: 1105] +05/12 12:34:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:34:27 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:34:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:28 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.516[m] 64.387[deg] [grasp_sample.py: 539] +05/12 12:34:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:34:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:34:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:34:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:34:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:34:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180244m [env.py: 870] +05/12 12:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:34:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31497847 -1.06296774 -0.1802438 ] yaw=-52.2deg [env.py: 1019] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:34:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms [env.py: 1075] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.063, -0.180) [env.py: 1079] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg [env.py: 1082] +05/12 12:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 12:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:34:29 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 12:34:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:34:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.296s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:30 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.678[m] 74.098[deg] [grasp_sample.py: 539] +05/12 12:34:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:34:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:34:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.376s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:41 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.487[m] 60.456[deg] [grasp_sample.py: 539] +05/12 12:34:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:34:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:34:44 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:34:44 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=False episode_total=0.47s: + episode_total: mean=74.82s, total=74.82s, count=1, min=74824.8ms, max=74824.8ms + sensor_polling: mean=375.8ms, total=28.19s, count=75, min=339.1ms, max=535.4ms + physics_step: mean=19.0ms, total=1.42s, count=75, min=13.1ms, max=28.7ms + task_sampling: mean=469.4ms, total=469.4ms, count=1, min=469.4ms, max=469.4ms + task_specific_sample: mean=466.8ms, total=466.8ms, count=1, min=466.8ms, max=466.8ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=415.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=11.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:34:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:34:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:34:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:34:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:34:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154958m [env.py: 870] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:34:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=542.3ms, total=542.3ms [env.py: 1105] +05/12 12:34:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:34:46 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:34:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:34:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:34:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:34:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:34:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126917m [env.py: 870] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:34:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48282204 -0.92675714 -0.12691719] yaw=-66.3deg [env.py: 1019] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4096924 -1.11958744 -0.12691719] yaw=-50.1deg [env.py: 1019] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:34:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=374.2ms, total=374.2ms [env.py: 1075] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.927, -0.127) [env.py: 1079] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg [env.py: 1082] +05/12 12:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:34:48 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/12 12:34:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 12:34:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.576s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.712[m] 88.410[deg] [grasp_sample.py: 539] +05/12 12:34:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:34:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:34:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:34:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:34:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:34:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:34:53 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:34:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.344s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:34:54 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.481[m] 58.995[deg] [grasp_sample.py: 539] +05/12 12:34:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:34:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:34:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:34:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:35:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:35:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:35:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.326s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.481[m] 58.997[deg] [grasp_sample.py: 539] +05/12 12:35:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:35:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:35:14 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 12:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:35:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:35:19 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:35:19 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=1.38s: + episode_total: mean=29.46s, total=147.31s, count=5, min=219.9ms, max=76656.0ms + sensor_polling: mean=324.4ms, total=70.40s, count=217, min=297.5ms, max=475.2ms + physics_step: mean=19.7ms, total=4.27s, count=217, min=12.9ms, max=28.8ms + task_specific_sample: mean=464.7ms, total=2.32s, count=5, min=216.3ms, max=730.9ms + task_sampling: mean=461.2ms, total=1.38s, count=3, min=416.1ms, max=498.2ms + task_sampling_failed: mean=477.9ms, total=955.7ms, count=2, min=219.9ms, max=735.8ms + scene_randomize: mean=1.4ms, total=7.2ms, count=5, min=1.0ms, max=2.4ms + mj_forward_sync: mean=435.5us, total=2.2ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115215m [env.py: 870] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=367.3ms, total=367.3ms [env.py: 1105] +05/12 12:35:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:35:20 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:35:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:35:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:35:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164630m [env.py: 870] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=399.8ms, total=399.8ms [env.py: 1105] +05/12 12:35:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:35:22 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:35:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.563[m] 65.389[deg] [grasp_sample.py: 539] +05/12 12:35:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154644m [env.py: 870] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=387.0ms, total=387.0ms [env.py: 1105] +05/12 12:35:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:35:24 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:35:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126363m [env.py: 870] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13780352 -1.0217452 -0.12636268] yaw=-37.0deg [env.py: 1019] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:35:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=263.3ms, total=263.4ms [env.py: 1075] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -1.022, -0.126) [env.py: 1079] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.0 deg [env.py: 1082] +05/12 12:35:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:35:25 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 12:35:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/12 12:35:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:35:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.282s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:35:27 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:35:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:35:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:35:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.75s (batch: 3.35s, save: 9.39s) [pipeline.py: 300] +05/12 12:35:28 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.68s: + episode_total: mean=154.15s, total=154.15s, count=1, min=154153.9ms, max=154153.9ms + sensor_polling: mean=372.7ms, total=105.09s, count=282, min=296.4ms, max=823.5ms + save_trajectories: mean=9.39s, total=9.39s, count=1, min=9392.1ms, max=9392.1ms + physics_step: mean=23.8ms, total=6.70s, count=282, min=14.8ms, max=63.5ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3353.1ms, max=3353.1ms + task_sampling: mean=679.4ms, total=679.4ms, count=1, min=679.4ms, max=679.4ms + task_specific_sample: mean=671.8ms, total=671.8ms, count=1, min=671.8ms, max=671.8ms + scene_randomize: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms + mj_forward_sync: mean=573.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161667m [env.py: 870] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=319.5ms, total=319.5ms [env.py: 1105] +05/12 12:35:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:35:28 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132110m [env.py: 870] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=178.9ms, total=178.9ms [env.py: 1105] +05/12 12:35:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:35:29 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165640m [env.py: 870] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27520187 -1.0779643 -0.16563964] yaw=-51.8deg [env.py: 1019] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=196.9ms, total=196.9ms [env.py: 1075] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.078, -0.166) [env.py: 1079] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.8 deg [env.py: 1082] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:35:30 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 12:35:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:35:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102790m [env.py: 870] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3613392 -0.95944637 -0.10278984] yaw=-50.1deg [env.py: 1019] +05/12 12:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:35:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=206.9ms, total=206.9ms [env.py: 1075] +05/12 12:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.959, -0.103) [env.py: 1079] +05/12 12:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg [env.py: 1082] +05/12 12:35:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 12:35:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:35:31 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/12 12:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 12:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:35:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.604s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:33 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.780[m] 75.379[deg] [grasp_sample.py: 539] +05/12 12:35:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.247s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:34 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.743[m] 80.046[deg] [grasp_sample.py: 539] +05/12 12:35:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:35:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:35:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:35:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.644s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:41 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.583[m] 67.926[deg] [grasp_sample.py: 539] +05/12 12:35:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:35:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:35:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:35:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.496s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.582[m] 66.372[deg] [grasp_sample.py: 539] +05/12 12:35:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:36:07 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:36:07 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:36:07 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=False episode_total=0.62s: + episode_total: mean=40.47s, total=80.93s, count=2, min=562.3ms, max=80371.4ms + sensor_polling: mean=395.1ms, total=28.45s, count=72, min=337.3ms, max=510.4ms + physics_step: mean=20.0ms, total=1.44s, count=72, min=13.3ms, max=28.9ms + task_specific_sample: mean=583.6ms, total=1.17s, count=2, min=548.9ms, max=618.3ms + task_sampling: mean=620.7ms, total=620.7ms, count=1, min=620.7ms, max=620.7ms + task_sampling_failed: mean=562.3ms, total=562.3ms, count=1, min=562.3ms, max=562.3ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=0.9ms, max=2.2ms + mj_forward_sync: mean=483.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:36:08 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:36:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:36:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:36:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:36:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:36:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:36:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136629m [env.py: 870] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:36:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49276606 -1.05366337 -0.13662943] yaw=-64.8deg [env.py: 1019] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:36:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=212.8ms, total=212.9ms [env.py: 1075] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -1.054, -0.137) [env.py: 1079] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg [env.py: 1082] +05/12 12:36:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:36:09 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 12:36:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/12 12:36:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:36:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:36:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:36:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.391s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:36:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.666[m] 77.211[deg] [grasp_sample.py: 539] +05/12 12:36:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:36:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:36:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:36:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:36:27 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/12 12:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:36:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:36:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.24s (batch: 3.41s, save: 8.83s) [pipeline.py: 300] +05/12 12:36:39 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=2.31s: + episode_total: mean=36.62s, total=256.35s, count=7, min=320.8ms, max=130748.0ms + sensor_polling: mean=355.0ms, total=162.59s, count=458, min=293.5ms, max=592.5ms + physics_step: mean=22.9ms, total=10.49s, count=458, min=14.5ms, max=85.7ms + save_trajectories: mean=8.83s, total=8.83s, count=1, min=8833.0ms, max=8833.0ms + task_specific_sample: mean=519.7ms, total=3.64s, count=7, min=317.5ms, max=794.3ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3405.4ms, max=3405.4ms + task_sampling: mean=576.8ms, total=2.31s, count=4, min=485.8ms, max=797.4ms + task_sampling_failed: mean=451.0ms, total=1.35s, count=3, min=320.8ms, max=537.0ms + scene_randomize: mean=1.1ms, total=7.8ms, count=7, min=1.0ms, max=1.5ms + mj_forward_sync: mean=381.5us, total=2.7ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=12.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:36:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:36:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:36:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:36:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:36:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:36:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130103m [env.py: 870] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:36:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=401.8ms, total=401.8ms [env.py: 1105] +05/12 12:36:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:36:41 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:36:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:36:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:36:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:36:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:36:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:36:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120603m [env.py: 870] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:36:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=238.5ms, total=238.5ms [env.py: 1105] +05/12 12:36:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:36:42 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:36:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:36:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:36:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:36:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:36:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169476m [env.py: 870] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:36:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35378902 -1.16277301 -0.16947621] yaw=-35.6deg [env.py: 1019] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27678736 -1.04726751 -0.16947621] yaw=-46.2deg [env.py: 1019] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30792137 -1.23387592 -0.16947621] yaw=-43.2deg [env.py: 1019] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:36:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.5ms [env.py: 1075] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.354, -1.163, -0.169) [env.py: 1079] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg [env.py: 1082] +05/12 12:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:36:44 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 12:36:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 12:36:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:36:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:36:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:36:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:36:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:36:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:36:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:36:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:36:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.556s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:36:47 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.633[m] 83.739[deg] [grasp_sample.py: 539] +05/12 12:36:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:36:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:36:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:36:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.866s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:36:48 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.530[m] 52.552[deg] [grasp_sample.py: 539] +05/12 12:36:50 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:36:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:36:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:36:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:36:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:36:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:36:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197057m [env.py: 870] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:36:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25959891 -1.05932325 -0.19705736] yaw=-40.2deg [env.py: 1019] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:36:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.6ms, total=336.7ms [env.py: 1075] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.059, -0.197) [env.py: 1079] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg [env.py: 1082] +05/12 12:36:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:36:52 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 12:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/12 12:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:36:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:36:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:36:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:36:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.645s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:36:57 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.711[m] 84.071[deg] [grasp_sample.py: 539] +05/12 12:36:58 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:36:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:36:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:36:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159270m [env.py: 870] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:36:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.2ms [env.py: 1105] +05/12 12:36:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:36:59 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:37:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:37:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:37:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:37:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:37:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:37:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:37:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102929m [env.py: 870] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:37:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41426299 -0.9125809 -0.10292917] yaw=-58.0deg [env.py: 1019] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:37:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.8ms, total=215.9ms [env.py: 1075] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -0.913, -0.103) [env.py: 1079] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg [env.py: 1082] +05/12 12:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:37:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:37:01 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/12 12:37:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:37:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:37:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:37:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:37:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.078s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:37:11 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.799[m] 88.575[deg] [grasp_sample.py: 539] +05/12 12:37:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:37:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:37:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:37:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:37:18 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:37:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:37:40 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:37:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:37:40 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/12 12:37:41 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:37:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:37:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:37:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:37:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:37:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.09s (batch: 3.61s, save: 9.48s) [pipeline.py: 300] +05/12 12:37:54 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.92s: + episode_total: mean=24.62s, total=147.73s, count=6, min=327.4ms, max=144250.9ms + sensor_polling: mean=331.8ms, total=94.24s, count=284, min=297.8ms, max=502.7ms + save_trajectories: mean=9.48s, total=9.48s, count=1, min=9481.6ms, max=9481.6ms + physics_step: mean=21.6ms, total=6.13s, count=284, min=14.7ms, max=46.9ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3608.5ms, max=3608.5ms + task_specific_sample: mean=402.2ms, total=2.41s, count=6, min=324.2ms, max=511.2ms + task_sampling_failed: mean=378.6ms, total=1.51s, count=4, min=327.3ms, max=411.9ms + task_sampling: mean=462.2ms, total=924.4ms, count=2, min=411.1ms, max=513.3ms + scene_randomize: mean=1.1ms, total=6.5ms, count=6, min=1.0ms, max=1.3ms + mj_forward_sync: mean=417.5us, total=2.5ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:37:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:37:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:37:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:37:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126719m [env.py: 870] +05/12 12:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:37:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=213.4ms, total=213.5ms [env.py: 1105] +05/12 12:37:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:37:56 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:37:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:37:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:37:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:37:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:37:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:37:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:37:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:37:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:37:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130121m [env.py: 870] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:37:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=297.0ms, total=297.0ms [env.py: 1105] +05/12 12:37:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:37:57 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:37:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:37:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:37:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:37:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:37:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:37:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:37:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140578m [env.py: 870] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:37:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:37:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=208.6ms, total=208.7ms [env.py: 1105] +05/12 12:37:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:37:59 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:38:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128131m [env.py: 870] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.9ms, total=218.9ms [env.py: 1105] +05/12 12:38:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:38:00 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:38:01 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:38:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:38:01 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/12 12:38:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147332m [env.py: 870] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.9ms, total=199.9ms [env.py: 1105] +05/12 12:38:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:38:02 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180462m [env.py: 870] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18073204 -1.03937094 -0.18046173] yaw=-50.7deg [env.py: 1019] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.5ms [env.py: 1075] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -1.039, -0.180) [env.py: 1079] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg [env.py: 1082] +05/12 12:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:03 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.306s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:38:05 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:38:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129687m [env.py: 870] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.1ms, total=192.1ms [env.py: 1105] +05/12 12:38:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:38:06 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:38:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151607m [env.py: 870] +05/12 12:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.5068447 -0.93565242 -0.15160724] yaw=-50.8deg [env.py: 1019] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.5ms, total=206.5ms [env.py: 1075] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.936, -0.152) [env.py: 1079] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg [env.py: 1082] +05/12 12:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/12 12:38:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:08 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.739[m] 70.435[deg] [grasp_sample.py: 539] +05/12 12:38:10 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101328m [env.py: 870] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21397492 -1.08217066 -0.10132783] yaw=-34.8deg [env.py: 1019] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:38:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.1ms, total=213.2ms [env.py: 1075] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.082, -0.101) [env.py: 1079] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg [env.py: 1082] +05/12 12:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:12 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.553s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:14 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.211[m] 17.349[deg] [grasp_sample.py: 539] +05/12 12:38:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:38:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:38:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:38:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:38:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:38:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.87s (batch: 3.88s, save: 9.99s) [pipeline.py: 300] +05/12 12:38:16 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.48s: + episode_total: mean=82.78s, total=165.56s, count=2, min=188.6ms, max=165369.7ms + sensor_polling: mean=377.6ms, total=109.88s, count=291, min=292.8ms, max=612.8ms + save_trajectories: mean=9.99s, total=9.99s, count=1, min=9988.5ms, max=9988.5ms + physics_step: mean=24.5ms, total=7.12s, count=291, min=14.7ms, max=34.7ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3883.7ms, max=3883.7ms + task_specific_sample: mean=332.0ms, total=664.0ms, count=2, min=184.5ms, max=479.5ms + task_sampling: mean=481.9ms, total=481.9ms, count=1, min=481.9ms, max=481.9ms + task_sampling_failed: mean=188.5ms, total=188.5ms, count=1, min=188.5ms, max=188.5ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=0.9ms, max=2.4ms + mj_forward_sync: mean=399.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104237m [env.py: 870] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45412595 -1.03191262 -0.10423674] yaw=-55.0deg [env.py: 1019] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=222.8ms, total=222.9ms [env.py: 1075] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.454, -1.032, -0.104) [env.py: 1079] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/12 12:38:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:18 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.527s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:20 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.709[m] 90.141[deg] [grasp_sample.py: 539] +05/12 12:38:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:38:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:38:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:38:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.928s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:22 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 12:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115657m [env.py: 870] +05/12 12:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.6ms, total=203.7ms [env.py: 1105] +05/12 12:38:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:38:24 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132215m [env.py: 870] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43252506 -0.95673265 -0.13221467] yaw=-62.2deg [env.py: 1019] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.7ms [env.py: 1075] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.433, -0.957, -0.132) [env.py: 1079] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/12 12:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:25 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:38:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:38:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.417s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:28 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.746[m] 88.142[deg] [grasp_sample.py: 539] +05/12 12:38:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:29 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:38:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.491s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:29 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.207[m] 16.890[deg] [grasp_sample.py: 539] +05/12 12:38:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:38:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:38:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:38:30 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:38:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127354m [env.py: 870] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53468172 -0.93078848 -0.12735428] yaw=-56.1deg [env.py: 1019] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.57624198 -0.77242165 -0.12735428] yaw=-71.3deg [env.py: 1019] +05/12 12:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1075] +05/12 12:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -0.931, -0.127) [env.py: 1079] +05/12 12:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg [env.py: 1082] +05/12 12:38:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/12 12:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:31 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.562s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.702[m] 85.914[deg] [grasp_sample.py: 539] +05/12 12:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:34 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138149m [env.py: 870] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48219194 -0.82586311 -0.13814928] yaw=-56.0deg [env.py: 1019] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=203.4ms, total=203.4ms [env.py: 1075] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.826, -0.138) [env.py: 1079] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg [env.py: 1082] +05/12 12:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:35 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:38:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:38:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:44 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.207[m] 16.890[deg] [grasp_sample.py: 539] +05/12 12:38:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:38:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:38:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:47 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:38:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:38:47 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/12 12:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.774s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:50 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 12:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:38:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:38:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114594m [env.py: 870] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40129097 -0.92252342 -0.11459432] yaw=-53.1deg [env.py: 1019] +05/12 12:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:38:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.5ms [env.py: 1075] +05/12 12:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.401, -0.923, -0.115) [env.py: 1079] +05/12 12:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/12 12:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 12:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:38:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:38:52 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/12 12:38:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 12:38:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:38:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:38:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:38:56 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 12:38:57 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:38:57 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=False episode_total=1.58s: + episode_total: mean=41.03s, total=164.11s, count=4, min=203.2ms, max=116487.3ms + sensor_polling: mean=378.8ms, total=79.92s, count=211, min=310.0ms, max=633.9ms + physics_step: mean=21.1ms, total=4.45s, count=211, min=13.2ms, max=38.4ms + task_specific_sample: mean=442.8ms, total=1.77s, count=4, min=199.8ms, max=630.3ms + task_sampling: mean=526.4ms, total=1.58s, count=3, min=438.2ms, max=633.3ms + task_sampling_failed: mean=203.2ms, total=203.2ms, count=1, min=203.2ms, max=203.2ms + scene_randomize: mean=1.1ms, total=4.5ms, count=4, min=1.0ms, max=1.3ms + mj_forward_sync: mean=396.4us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:38:58 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 12:38:58 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 12:38:58 INFO: [Worker 0] Worker 0 completed house 1: 4/13 successful episodes [pipeline.py: 1323] +05/12 12:38:58 INFO: [Worker 0] [PROFILE] House 1 complete: 4/13 successful, 13 episodes, total_time=2739.98s + House averages: + episode_total: mean=23.64s, total=1702.30s, count=72, min=172.7ms, max=182417.2ms + sensor_polling: mean=378.0ms, total=865.53s, count=2290, min=307.3ms, max=733.3ms + physics_step: mean=21.4ms, total=49.12s, count=2290, min=12.9ms, max=86.0ms + save_trajectories: mean=9.25s, total=36.99s, count=4, min=8663.6ms, max=9720.6ms + task_specific_sample: mean=419.9ms, total=30.23s, count=72, min=170.1ms, max=824.9ms + task_sampling: mean=518.9ms, total=23.35s, count=45, min=391.6ms, max=828.0ms + save_batch_prep: mean=3.23s, total=12.92s, count=4, min=2538.8ms, max=3776.3ms + task_sampling_failed: mean=392.7ms, total=10.60s, count=27, min=172.7ms, max=3732.6ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.2ms, max=3485.2ms + scene_compile: mean=1.75s, total=1.75s, count=1, min=1750.3ms, max=1750.3ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1589.0ms, max=1589.0ms + compile_xml_load: mean=1.15s, total=1.15s, count=1, min=1153.9ms, max=1153.9ms + compile_mujoco: mean=518.5ms, total=518.5ms, count=1, min=518.5ms, max=518.5ms + scene_init: mean=98.1ms, total=98.1ms, count=1, min=98.1ms, max=98.1ms + scene_randomize: mean=1.2ms, total=84.1ms, count=72, min=0.9ms, max=3.0ms + compile_aux_objects: mean=48.8ms, total=48.8ms, count=1, min=48.8ms, max=48.8ms + compile_aux_policy_objects: mean=48.8ms, total=48.8ms, count=1, min=48.8ms, max=48.8ms + scene_asset_install: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + mj_forward_sync: mean=432.7us, total=31.2ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms + compile_robot_add: mean=21.4ms, total=21.4ms, count=1, min=21.4ms, max=21.4ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + asset_install_scene: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms + policy_setup: mean=14.2us, total=0.6ms, count=45, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:38:58 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:38:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=2739.98s + Worker averages: + episode_total: mean=23.64s, total=1702.30s, count=72, min=172.7ms, max=182417.2ms + sensor_polling: mean=378.0ms, total=865.53s, count=2290, min=307.3ms, max=733.3ms + physics_step: mean=21.4ms, total=49.12s, count=2290, min=12.9ms, max=86.0ms + save_trajectories: mean=9.25s, total=36.99s, count=4, min=8663.6ms, max=9720.6ms + task_specific_sample: mean=419.9ms, total=30.23s, count=72, min=170.1ms, max=824.9ms + task_sampling: mean=518.9ms, total=23.35s, count=45, min=391.6ms, max=828.0ms + save_batch_prep: mean=3.23s, total=12.92s, count=4, min=2538.8ms, max=3776.3ms + task_sampling_failed: mean=392.7ms, total=10.60s, count=27, min=172.7ms, max=3732.6ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.2ms, max=3485.2ms + scene_compile: mean=1.75s, total=1.75s, count=1, min=1750.3ms, max=1750.3ms + scene_env_create: mean=1.59s, total=1.59s, count=1, min=1589.0ms, max=1589.0ms + compile_xml_load: mean=1.15s, total=1.15s, count=1, min=1153.9ms, max=1153.9ms + compile_mujoco: mean=518.5ms, total=518.5ms, count=1, min=518.5ms, max=518.5ms + scene_init: mean=98.1ms, total=98.1ms, count=1, min=98.1ms, max=98.1ms + scene_randomize: mean=1.2ms, total=84.1ms, count=72, min=0.9ms, max=3.0ms + compile_aux_objects: mean=48.8ms, total=48.8ms, count=1, min=48.8ms, max=48.8ms + compile_aux_policy_objects: mean=48.8ms, total=48.8ms, count=1, min=48.8ms, max=48.8ms + scene_asset_install: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + mj_forward_sync: mean=432.7us, total=31.2ms, count=72, min=0.4ms, max=0.8ms + asset_install_grasps: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms + compile_robot_add: mean=21.4ms, total=21.4ms, count=1, min=21.4ms, max=21.4ms + asset_install_objects: mean=11.2ms, total=11.2ms, count=1, min=11.2ms, max=11.2ms + asset_install_scene: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms + policy_setup: mean=14.2us, total=0.6ms, count=45, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:38:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:38:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:38:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.31s (batch: 2.87s, save: 8.44s) [pipeline.py: 300] +05/12 12:38:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.615s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:38:59 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.772[m] 91.188[deg] [grasp_sample.py: 539] +05/12 12:38:59 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.46s: + episode_total: mean=45.31s, total=135.93s, count=3, min=246.3ms, max=135270.3ms + sensor_polling: mean=360.1ms, total=94.70s, count=263, min=306.1ms, max=641.8ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.4ms, max=8439.4ms + physics_step: mean=23.9ms, total=6.28s, count=263, min=14.8ms, max=79.3ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2874.4ms, max=2874.4ms + task_specific_sample: mean=369.5ms, total=1.11s, count=3, min=243.2ms, max=457.7ms + task_sampling_failed: mean=329.5ms, total=659.0ms, count=2, min=246.3ms, max=412.7ms + task_sampling: mean=459.9ms, total=459.9ms, count=1, min=459.9ms, max=459.9ms + scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=0.9ms, max=1.8ms + mj_forward_sync: mean=403.4us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:39:00 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:39:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176257m [env.py: 870] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36272546 -1.05813653 -0.1762566 ] yaw=-48.8deg [env.py: 1019] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:39:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=271.3ms, total=271.3ms [env.py: 1075] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -1.058, -0.176) [env.py: 1079] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg [env.py: 1082] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:01 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:39:01 INFO: Success count: 4, Total count: 13 [pipeline.py: 1491] +05/12 12:39:01 INFO: Success rate: 30.77% [pipeline.py: 1492] +05/12 12:39:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:39:01 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/12 12:39:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 12:39:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:39:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:39:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:39:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:39:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118128m [env.py: 870] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:39:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=209.6ms, total=209.7ms [env.py: 1105] +05/12 12:39:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:39:01 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:39:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:39:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:39:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:39:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134977m [env.py: 870] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:39:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1105] +05/12 12:39:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:39:03 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:39:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:39:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:39:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:39:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128405m [env.py: 870] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:39:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5368482 -1.01114474 -0.12840501] yaw=-68.8deg [env.py: 1019] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25043829 -1.03039374 -0.12840501] yaw=-40.2deg [env.py: 1019] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37186112 -1.16478762 -0.12840501] yaw=-36.4deg [env.py: 1019] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:39:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.2ms [env.py: 1075] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.537, -1.011, -0.128) [env.py: 1079] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg [env.py: 1082] +05/12 12:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:39:04 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/12 12:39:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:39:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:39:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.063s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:06 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.694[m] 92.466[deg] [grasp_sample.py: 539] +05/12 12:39:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.529s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.699[m] 85.282[deg] [grasp_sample.py: 539] +05/12 12:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:39:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:39:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:39:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:39:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:39:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:39:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:39:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.578s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:36 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.533[m] 61.128[deg] [grasp_sample.py: 539] +05/12 12:39:37 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:39:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:39:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:39:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:39:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114226m [env.py: 870] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:39:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28514319 -1.03689051 -0.11422613] yaw=-39.0deg [env.py: 1019] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:39:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms [env.py: 1075] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -1.037, -0.114) [env.py: 1079] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg [env.py: 1082] +05/12 12:39:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:39:38 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/12 12:39:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/12 12:39:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:39:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.527s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:40 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.753[m] 87.929[deg] [grasp_sample.py: 539] +05/12 12:39:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:39:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:39:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:40:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:25 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:40:42 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:40:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:40:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:40:45 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/12 12:40:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:40:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:40:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:40:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.45s (batch: 3.27s, save: 9.18s) [pipeline.py: 300] +05/12 12:40:58 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.45s: + episode_total: mean=160.45s, total=160.45s, count=1, min=160446.4ms, max=160446.4ms + sensor_polling: mean=392.1ms, total=108.61s, count=277, min=297.1ms, max=615.5ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9178.4ms, max=9178.4ms + physics_step: mean=25.4ms, total=7.03s, count=277, min=15.2ms, max=90.2ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3267.6ms, max=3267.6ms + task_sampling: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms + task_specific_sample: mean=443.2ms, total=443.2ms, count=1, min=443.2ms, max=443.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=637.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:40:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:40:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:40:59 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 12:40:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:40:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:40:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:40:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:40:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:40:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:40:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188480m [env.py: 870] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:40:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52241032 -0.85293767 -0.18847959] yaw=-62.9deg [env.py: 1019] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:40:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.8ms [env.py: 1075] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -0.853, -0.188) [env.py: 1079] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/12 12:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:40:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:40:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:40:59 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/12 12:40:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 12:40:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:40:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:41:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:41:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.070s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:41:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.740[m] 90.714[deg] [grasp_sample.py: 539] +05/12 12:41:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:41:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:41:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:41:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:41:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:41:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:41:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.24s (batch: 2.90s, save: 8.34s) [pipeline.py: 300] +05/12 12:41:10 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.50s: + episode_total: mean=130.05s, total=130.05s, count=1, min=130045.5ms, max=130045.5ms + sensor_polling: mean=319.9ms, total=87.96s, count=275, min=293.5ms, max=507.5ms + save_trajectories: mean=8.34s, total=8.34s, count=1, min=8339.1ms, max=8339.1ms + physics_step: mean=21.1ms, total=5.80s, count=275, min=14.7ms, max=35.7ms + save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2899.9ms, max=2899.9ms + task_sampling: mean=500.3ms, total=500.3ms, count=1, min=500.3ms, max=500.3ms + task_specific_sample: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=361.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:41:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:41:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:41:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:41:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:41:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:41:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:41:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:41:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:41:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142353m [env.py: 870] +05/12 12:41:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:41:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 147.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5161627 -0.78297139 -0.14235328] yaw=-65.4deg [env.py: 1019] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:41:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.7ms [env.py: 1075] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -0.783, -0.142) [env.py: 1079] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/12 12:41:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 12:41:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:41:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:41:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:41:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:41:12 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 12:41:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/12 12:41:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:41:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:41:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:41:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.274s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:41:13 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:41:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:41:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:41:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:41:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155216m [env.py: 870] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:41:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 11.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34314174 -1.08039473 -0.15521595] yaw=-49.4deg [env.py: 1019] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=247.2ms, total=247.3ms [env.py: 1075] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -1.080, -0.155) [env.py: 1079] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/12 12:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:41:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:41:15 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/12 12:41:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:41:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:41:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:41:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:41:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:41:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.710[m] 86.318[deg] [grasp_sample.py: 539] +05/12 12:41:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:41:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:41:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:41:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:41:43 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:02 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:42:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:42:02 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 12:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:42:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:42:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.379s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.099[m] 5.608[deg] [grasp_sample.py: 539] +05/12 12:42:07 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:42:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:42:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:42:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:42:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:42:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:42:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157047m [env.py: 870] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:42:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19298585 -1.1122381 -0.15704736] yaw=-39.3deg [env.py: 1019] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61879094 -0.84798151 -0.15704736] yaw=-62.4deg [env.py: 1019] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:42:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.1ms, total=257.1ms [env.py: 1075] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -1.112, -0.157) [env.py: 1079] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/12 12:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:42:09 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/12 12:42:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/12 12:42:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:42:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.773s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:12 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.738[m] 84.408[deg] [grasp_sample.py: 539] +05/12 12:42:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:42:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:42:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:42:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:42:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:42:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.91s (batch: 3.44s, save: 9.46s) [pipeline.py: 300] +05/12 12:42:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:42:16 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=3.77s: + episode_total: mean=13.28s, total=239.04s, count=18, min=199.8ms, max=157887.4ms + sensor_polling: mean=383.6ms, total=128.49s, count=335, min=291.2ms, max=537.2ms + save_trajectories: mean=9.46s, total=9.46s, count=1, min=9464.1ms, max=9464.1ms + physics_step: mean=23.7ms, total=7.95s, count=335, min=14.5ms, max=34.0ms + task_specific_sample: mean=319.5ms, total=5.75s, count=18, min=196.8ms, max=442.0ms + task_sampling: mean=418.9ms, total=3.77s, count=9, min=403.0ms, max=444.2ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3443.9ms, max=3443.9ms + task_sampling_failed: mean=225.9ms, total=2.03s, count=9, min=199.8ms, max=305.3ms + scene_randomize: mean=1.2ms, total=21.3ms, count=18, min=0.9ms, max=3.1ms + mj_forward_sync: mean=430.6us, total=7.8ms, count=18, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=18, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:42:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:42:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:42:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:42:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:42:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:42:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162167m [env.py: 870] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:42:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34276794 -1.01721055 -0.16216735] yaw=-43.2deg [env.py: 1019] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27258938 -0.92408059 -0.16216735] yaw=-40.8deg [env.py: 1019] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:42:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.7ms, total=204.8ms [env.py: 1075] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -1.017, -0.162) [env.py: 1079] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.2 deg [env.py: 1082] +05/12 12:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:42:18 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/12 12:42:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 12:42:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:42:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.469s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:22 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.727[m] 87.658[deg] [grasp_sample.py: 539] +05/12 12:42:23 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:42:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:42:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:42:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:42:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:42:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:42:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157409m [env.py: 870] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:42:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:42:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=203.5ms, total=203.6ms [env.py: 1105] +05/12 12:42:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:42:25 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:42:26 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 12:42:26 WARNING: [Worker 0] No trajectory data to save for chunk_018 [pipeline.py: 234] +05/12 12:42:26 INFO: [Worker 0] Worker 0 completed house 1: 10/12 successful episodes [pipeline.py: 1323] +05/12 12:42:26 INFO: [Worker 0] [PROFILE] House 1 complete: 10/12 successful, 12 episodes, total_time=3307.48s + House averages: + episode_total: mean=26.51s, total=1908.64s, count=72, min=192.3ms, max=162531.1ms + sensor_polling: mean=357.1ms, total=1123.78s, count=3147, min=291.2ms, max=760.6ms + save_trajectories: mean=9.78s, total=97.77s, count=10, min=8925.5ms, max=10991.7ms + physics_step: mean=22.8ms, total=71.62s, count=3147, min=12.9ms, max=95.7ms + save_batch_prep: mean=3.58s, total=35.75s, count=10, min=2966.1ms, max=4088.2ms + task_specific_sample: mean=420.1ms, total=30.25s, count=72, min=186.0ms, max=878.4ms + task_sampling: mean=603.9ms, total=22.95s, count=38, min=363.3ms, max=3116.1ms + task_sampling_failed: mean=301.5ms, total=10.25s, count=34, min=192.3ms, max=735.8ms + scene_load: mean=2.71s, total=2.71s, count=1, min=2710.3ms, max=2710.3ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1726.9ms, max=1726.9ms + scene_compile: mean=822.9ms, total=822.9ms, count=1, min=822.9ms, max=822.9ms + compile_mujoco: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms + compile_xml_load: mean=208.8ms, total=208.8ms, count=1, min=208.8ms, max=208.8ms + scene_init: mean=111.3ms, total=111.3ms, count=1, min=111.3ms, max=111.3ms + scene_randomize: mean=1.4ms, total=101.8ms, count=72, min=0.9ms, max=8.8ms + compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + compile_aux_policy_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + scene_asset_install: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms + mj_forward_sync: mean=426.1us, total=30.7ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=15.4us, total=0.6ms, count=38, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:42:26 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:42:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=3307.48s + Worker averages: + episode_total: mean=26.51s, total=1908.64s, count=72, min=192.3ms, max=162531.1ms + sensor_polling: mean=357.1ms, total=1123.78s, count=3147, min=291.2ms, max=760.6ms + save_trajectories: mean=9.78s, total=97.77s, count=10, min=8925.5ms, max=10991.7ms + physics_step: mean=22.8ms, total=71.62s, count=3147, min=12.9ms, max=95.7ms + save_batch_prep: mean=3.58s, total=35.75s, count=10, min=2966.1ms, max=4088.2ms + task_specific_sample: mean=420.1ms, total=30.25s, count=72, min=186.0ms, max=878.4ms + task_sampling: mean=603.9ms, total=22.95s, count=38, min=363.3ms, max=3116.1ms + task_sampling_failed: mean=301.5ms, total=10.25s, count=34, min=192.3ms, max=735.8ms + scene_load: mean=2.71s, total=2.71s, count=1, min=2710.3ms, max=2710.3ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1726.9ms, max=1726.9ms + scene_compile: mean=822.9ms, total=822.9ms, count=1, min=822.9ms, max=822.9ms + compile_mujoco: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms + compile_xml_load: mean=208.8ms, total=208.8ms, count=1, min=208.8ms, max=208.8ms + scene_init: mean=111.3ms, total=111.3ms, count=1, min=111.3ms, max=111.3ms + scene_randomize: mean=1.4ms, total=101.8ms, count=72, min=0.9ms, max=8.8ms + compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + compile_aux_policy_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + scene_asset_install: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + asset_install_grasps: mean=35.0ms, total=35.0ms, count=1, min=35.0ms, max=35.0ms + mj_forward_sync: mean=426.1us, total=30.7ms, count=72, min=0.4ms, max=0.6ms + asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms + compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + policy_setup: mean=15.4us, total=0.6ms, count=38, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:42:28 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:42:28 INFO: Success count: 10, Total count: 12 [pipeline.py: 1491] +05/12 12:42:28 INFO: Success rate: 83.33% [pipeline.py: 1492] +05/12 12:42:56 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:43:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:43:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:13 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:43:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:43:13 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/12 12:43:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:43:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:43:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 14.09s (batch: 3.42s, save: 10.67s) [pipeline.py: 300] +05/12 12:43:27 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.93s: + episode_total: mean=67.36s, total=134.71s, count=2, min=1952.6ms, max=132758.7ms + sensor_polling: mean=319.0ms, total=88.69s, count=278, min=294.3ms, max=580.3ms + save_trajectories: mean=10.67s, total=10.67s, count=1, min=10669.7ms, max=10669.7ms + physics_step: mean=21.1ms, total=5.85s, count=278, min=14.8ms, max=39.2ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3416.0ms, max=3416.0ms + task_sampling: mean=462.6ms, total=925.1ms, count=2, min=430.3ms, max=494.8ms + task_specific_sample: mean=459.5ms, total=919.0ms, count=2, min=427.7ms, max=491.2ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.3ms + mj_forward_sync: mean=427.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:43:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:43:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:43:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:43:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:43:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:43:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:43:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102575m [env.py: 870] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:43:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43531119 -1.03996226 -0.10257521] yaw=-53.0deg [env.py: 1019] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:43:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=507.6ms, total=507.7ms [env.py: 1075] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.040, -0.103) [env.py: 1079] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/12 12:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:43:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:43:30 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/12 12:43:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 12:43:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:43:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:43:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:43:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.845s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:43:32 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.673[m] 89.151[deg] [grasp_sample.py: 539] +05/12 12:43:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:43:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:43:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:43:50 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:44:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:44:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:44:09 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/12 12:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:44:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:44:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.80s (batch: 3.19s, save: 8.61s) [pipeline.py: 300] +05/12 12:44:21 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.95s: + episode_total: mean=100.47s, total=200.95s, count=2, min=68015.7ms, max=132929.6ms + sensor_polling: mean=323.7ms, total=139.53s, count=431, min=253.4ms, max=586.1ms + physics_step: mean=21.3ms, total=9.17s, count=431, min=14.6ms, max=86.5ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8610.1ms, max=8610.1ms + save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3192.7ms, max=3192.7ms + task_sampling: mean=475.0ms, total=950.0ms, count=2, min=470.6ms, max=479.4ms + task_specific_sample: mean=471.9ms, total=943.7ms, count=2, min=467.0ms, max=476.7ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms + mj_forward_sync: mean=377.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:44:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188619m [env.py: 870] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44144577 -0.91789432 -0.18861859] yaw=-61.0deg [env.py: 1019] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:44:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=312.5ms, total=312.5ms [env.py: 1075] +05/12 12:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -0.918, -0.189) [env.py: 1079] +05/12 12:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/12 12:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/12 12:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:44:23 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/12 12:44:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 12:44:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:44:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:44:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:44:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:44:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.775s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:44:26 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.700[m] 93.820[deg] [grasp_sample.py: 539] +05/12 12:44:27 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:44:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148736m [env.py: 870] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2371636 -0.90140191 -0.14873649] yaw=-43.3deg [env.py: 1019] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:44:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=293.2ms, total=293.2ms [env.py: 1075] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -0.901, -0.149) [env.py: 1079] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/12 12:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:44:28 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/12 12:44:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 12:44:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:44:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:44:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:44:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.604s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:44:30 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:44:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:44:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102908m [env.py: 870] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.2ms, total=163.2ms [env.py: 1105] +05/12 12:44:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:44:32 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:44:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129602m [env.py: 870] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48258744 -0.99088994 -0.12960223] yaw=-54.3deg [env.py: 1019] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55790056 -0.80484131 -0.12960223] yaw=-67.9deg [env.py: 1019] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64337847 -0.9366132 -0.12960223] yaw=-78.0deg [env.py: 1019] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:44:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.0ms, total=110.0ms [env.py: 1075] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.991, -0.130) [env.py: 1079] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/12 12:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:44:33 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/12 12:44:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:44:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:44:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:44:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:44:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:44:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.487s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:44:36 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.698[m] 81.676[deg] [grasp_sample.py: 539] +05/12 12:44:37 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154603m [env.py: 870] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.7ms, total=193.7ms [env.py: 1105] +05/12 12:44:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:44:38 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:44:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181541m [env.py: 870] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.3ms, total=193.4ms [env.py: 1105] +05/12 12:44:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:44:39 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:44:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142866m [env.py: 870] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63019725 -0.81808554 -0.14286607] yaw=-77.8deg [env.py: 1019] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.8ms [env.py: 1075] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.630, -0.818, -0.143) [env.py: 1079] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.8 deg [env.py: 1082] +05/12 12:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:44:41 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 12:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/12 12:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:44:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:44:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:44:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:44:47 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.747[m] 86.579[deg] [grasp_sample.py: 539] +05/12 12:44:48 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192699m [env.py: 870] +05/12 12:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=492.4ms, total=492.5ms [env.py: 1105] +05/12 12:44:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:44:50 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:44:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:44:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:44:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173057m [env.py: 870] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52601988 -1.03448339 -0.17305655] yaw=-49.3deg [env.py: 1019] +05/12 12:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:44:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=359.2ms, total=359.3ms [env.py: 1075] +05/12 12:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -1.034, -0.173) [env.py: 1079] +05/12 12:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/12 12:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 12:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:44:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:44:52 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 12:44:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/12 12:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:44:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:44:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:44:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.643s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:44:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.614[m] 78.552[deg] [grasp_sample.py: 539] +05/12 12:44:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:44:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:44:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:44:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:45:12 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:45:29 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:45:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:45:29 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/12 12:45:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:45:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:45:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.26s (batch: 3.03s, save: 8.23s) [pipeline.py: 300] +05/12 12:45:40 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.76s: + episode_total: mean=131.69s, total=131.69s, count=1, min=131693.7ms, max=131693.7ms + sensor_polling: mean=316.6ms, total=86.13s, count=272, min=296.5ms, max=514.6ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8226.1ms, max=8226.1ms + physics_step: mean=20.7ms, total=5.64s, count=272, min=14.8ms, max=46.7ms + save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3031.1ms, max=3031.1ms + task_sampling: mean=761.0ms, total=761.0ms, count=1, min=761.0ms, max=761.0ms + task_specific_sample: mean=756.5ms, total=756.5ms, count=1, min=756.5ms, max=756.5ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=564.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:45:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:45:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:45:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:45:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171918m [env.py: 870] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:45:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56104777 -0.79135957 -0.17191773] yaw=-69.6deg [env.py: 1019] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40111708 -0.92645855 -0.17191773] yaw=-51.2deg [env.py: 1019] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:45:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.6ms, total=233.6ms [env.py: 1075] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.791, -0.172) [env.py: 1079] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg [env.py: 1082] +05/12 12:45:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:45:42 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/12 12:45:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/12 12:45:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:45:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.470s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:45:44 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.760[m] 83.813[deg] [grasp_sample.py: 539] +05/12 12:45:45 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:45:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:45:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:45:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:45:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:45:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112172m [env.py: 870] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:45:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.8ms, total=222.8ms [env.py: 1105] +05/12 12:45:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:45:46 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:45:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:45:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:45:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:45:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163969m [env.py: 870] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:45:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10992347 -1.10091478 -0.16396883] yaw=-47.6deg [env.py: 1019] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59989846 -0.92164397 -0.16396883] yaw=-62.3deg [env.py: 1019] +05/12 12:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43493995 -0.82149289 -0.16396883] yaw=-62.8deg [env.py: 1019] +05/12 12:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:45:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.6ms [env.py: 1075] +05/12 12:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -1.101, -0.164) [env.py: 1079] +05/12 12:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg [env.py: 1082] +05/12 12:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/12 12:45:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:45:48 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/12 12:45:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:45:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:45:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.273s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:45:49 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:45:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:45:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:45:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:45:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103392m [env.py: 870] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:45:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35934269 -1.07637498 -0.10339221] yaw=-46.6deg [env.py: 1019] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31567943 -0.95892322 -0.10339221] yaw=-60.8deg [env.py: 1019] +05/12 12:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:45:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.1ms, total=230.1ms [env.py: 1075] +05/12 12:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.076, -0.103) [env.py: 1079] +05/12 12:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg [env.py: 1082] +05/12 12:45:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/12 12:45:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:45:51 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 12:45:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/12 12:45:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:45:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.431s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:45:52 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.729[m] 86.229[deg] [grasp_sample.py: 539] +05/12 12:45:53 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:45:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:45:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:45:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:45:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173105m [env.py: 870] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:45:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27522602 -1.06231514 -0.17310481] yaw=-52.9deg [env.py: 1019] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:45:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.8ms, total=231.9ms [env.py: 1075] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.062, -0.173) [env.py: 1079] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg [env.py: 1082] +05/12 12:45:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:45:55 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/12 12:45:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:45:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:45:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:45:56 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.699[m] 84.898[deg] [grasp_sample.py: 539] +05/12 12:45:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:45:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:45:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:45:59 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:45:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:45:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:45:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 370 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.382s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:45:59 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.052[m] 0.701[deg] [grasp_sample.py: 539] +05/12 12:45:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:46:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:46:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:46:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:18 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:46:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:46:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:46:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:46:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 380 non-colliding grasps [grasp_sample.py: 465] +05/12 12:46:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.412s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:46:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.523[deg] [grasp_sample.py: 539] +05/12 12:46:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:46:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:46:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:46:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:41 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:46:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:46:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:47:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:47:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:47:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:47:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:47:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:47:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 16.11s (batch: 4.02s, save: 12.09s) [pipeline.py: 300] +05/12 12:47:18 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=2.28s: + episode_total: mean=18.50s, total=166.54s, count=9, min=171.5ms, max=147155.6ms + sensor_polling: mean=317.4ms, total=95.21s, count=300, min=289.0ms, max=577.0ms + save_trajectories: mean=12.09s, total=12.09s, count=1, min=12087.8ms, max=12087.8ms + physics_step: mean=21.3ms, total=6.39s, count=300, min=14.8ms, max=64.8ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4020.9ms, max=4020.9ms + task_specific_sample: mean=369.9ms, total=3.33s, count=9, min=167.7ms, max=557.0ms + task_sampling: mean=455.8ms, total=2.28s, count=5, min=281.7ms, max=559.1ms + task_sampling_failed: mean=268.8ms, total=1.08s, count=4, min=171.5ms, max=501.2ms + scene_randomize: mean=1.2ms, total=10.5ms, count=9, min=0.9ms, max=2.7ms + mj_forward_sync: mean=409.8us, total=3.7ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=12.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:47:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:47:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:47:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175817m [env.py: 870] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38771641 -0.95273215 -0.17581721] yaw=-61.3deg [env.py: 1019] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26243334 -1.03404171 -0.17581721] yaw=-47.4deg [env.py: 1019] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=428.9ms, total=429.0ms [env.py: 1075] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -0.953, -0.176) [env.py: 1079] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg [env.py: 1082] +05/12 12:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:47:20 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/12 12:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 12:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:47:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:47:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:47:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.052s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:47:23 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.691[m] 84.731[deg] [grasp_sample.py: 539] +05/12 12:47:24 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:47:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:47:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:47:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:47:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:47:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:47:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102740m [env.py: 870] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:47:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=460.3ms, total=460.4ms [env.py: 1105] +05/12 12:47:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:47:25 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:47:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:47:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:47:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:47:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:47:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:47:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116506m [env.py: 870] +05/12 12:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:47:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:47:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35008402 -1.17289747 -0.11650563] yaw=-52.6deg [env.py: 1019] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:47:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.0ms, total=264.0ms [env.py: 1075] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.173, -0.117) [env.py: 1079] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/12 12:47:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 12:47:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:47:27 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 12:47:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/12 12:47:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:47:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:47:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:47:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.662s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:47:29 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.679[m] 84.533[deg] [grasp_sample.py: 539] +05/12 12:47:30 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:47:30 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:47:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:47:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:47:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:47:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:47:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:47:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168454m [env.py: 870] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:47:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5590155 -0.98517637 -0.16845374] yaw=-64.9deg [env.py: 1019] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:47:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=373.0ms, total=373.1ms [env.py: 1075] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.985, -0.168) [env.py: 1079] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/12 12:47:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:47:32 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/12 12:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/12 12:47:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:47:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:47:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:47:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:47:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.640[m] 84.175[deg] [grasp_sample.py: 539] +05/12 12:47:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:47:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:47:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:47:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:47:47 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:47:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:47:47 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/12 12:47:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:47:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:47:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 10.99s (batch: 2.83s, save: 8.16s) [pipeline.py: 300] +05/12 12:47:58 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.65s: + episode_total: mean=26.36s, total=131.81s, count=5, min=231.2ms, max=123623.0ms + sensor_polling: mean=309.9ms, total=85.23s, count=275, min=293.4ms, max=509.4ms + save_trajectories: mean=8.16s, total=8.16s, count=1, min=8161.9ms, max=8161.9ms + physics_step: mean=20.4ms, total=5.60s, count=275, min=14.2ms, max=29.7ms + save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2832.3ms, max=2832.3ms + task_specific_sample: mean=373.7ms, total=1.87s, count=5, min=227.5ms, max=453.4ms + task_sampling: mean=412.8ms, total=1.65s, count=4, min=330.7ms, max=457.0ms + task_sampling_failed: mean=231.2ms, total=231.2ms, count=1, min=231.2ms, max=231.2ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=1.0ms, max=2.3ms + mj_forward_sync: mean=410.0us, total=2.1ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=12.5us, total=0.0ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:47:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:47:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:47:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:47:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:47:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:47:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:47:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:47:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:47:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:47:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:47:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123019m [env.py: 870] +05/12 12:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:47:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:47:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3044208 -1.06439455 -0.12301878] yaw=-42.9deg [env.py: 1019] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37165545 -0.96709693 -0.12301878] yaw=-46.1deg [env.py: 1019] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43106523 -1.05661964 -0.12301878] yaw=-60.2deg [env.py: 1019] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:48:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=352.9ms, total=353.0ms [env.py: 1075] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.064, -0.123) [env.py: 1079] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/12 12:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 12:48:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:48:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:48:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:48:00 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/12 12:48:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/12 12:48:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:48:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.074s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.754[m] 84.454[deg] [grasp_sample.py: 539] +05/12 12:48:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:48:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:48:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:48:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:48:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:36 INFO: [Worker 0] Object is not in grasp! 0.00094 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:48:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:48:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 376 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.370s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:36 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.054[m] 0.524[deg] [grasp_sample.py: 539] +05/12 12:48:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:48:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:48:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:48:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:56 INFO: [Worker 0] Object is not in grasp! 0.00168 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 12:48:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:48:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:48:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 386 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.340s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.496[deg] [grasp_sample.py: 539] +05/12 12:48:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:48:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:48:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:49:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:49:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:17 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:49:37 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:49:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:49:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:49:41 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:49:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:49:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:49:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 13.68s (batch: 4.01s, save: 9.67s) [pipeline.py: 300] +05/12 12:49:52 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=1.76s: + episode_total: mean=37.11s, total=148.43s, count=4, min=474.9ms, max=140696.0ms + sensor_polling: mean=309.2ms, total=92.76s, count=300, min=289.9ms, max=496.3ms + save_trajectories: mean=9.67s, total=9.67s, count=1, min=9668.1ms, max=9668.1ms + physics_step: mean=20.7ms, total=6.20s, count=300, min=14.3ms, max=27.0ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4011.0ms, max=4011.0ms + task_specific_sample: mean=553.5ms, total=2.21s, count=4, min=465.0ms, max=684.3ms + task_sampling: mean=586.1ms, total=1.76s, count=3, min=469.2ms, max=688.9ms + task_sampling_failed: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms + scene_randomize: mean=1.5ms, total=6.2ms, count=4, min=1.0ms, max=3.2ms + mj_forward_sync: mean=458.4us, total=1.8ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:49:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:49:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:49:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118044m [env.py: 870] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=308.7ms, total=308.7ms [env.py: 1105] +05/12 12:49:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:49:53 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:49:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:49:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:49:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:49:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:49:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:49:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106858m [env.py: 870] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:49:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.7ms, total=185.8ms [env.py: 1105] +05/12 12:49:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:49:55 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:49:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:49:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:49:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:49:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:49:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:49:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140618m [env.py: 870] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:49:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39535679 -0.94771346 -0.14061826] yaw=-48.9deg [env.py: 1019] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:49:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=186.4ms, total=186.5ms [env.py: 1075] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -0.948, -0.141) [env.py: 1079] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg [env.py: 1082] +05/12 12:49:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:49:56 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/12 12:49:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/12 12:49:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:49:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:49:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:49:58 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:49:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:49:58 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/12 12:50:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.772s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:50:00 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.787[m] 84.334[deg] [grasp_sample.py: 539] +05/12 12:50:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:50:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:50:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:50:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:50:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:50:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 11.67s (batch: 2.74s, save: 8.93s) [pipeline.py: 300] +05/12 12:50:11 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.60s: + episode_total: mean=131.24s, total=131.24s, count=1, min=131236.5ms, max=131236.5ms + sensor_polling: mean=307.7ms, total=88.62s, count=288, min=288.0ms, max=496.0ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8925.9ms, max=8925.9ms + physics_step: mean=20.5ms, total=5.91s, count=288, min=14.6ms, max=30.2ms + save_batch_prep: mean=2.74s, total=2.74s, count=1, min=2742.8ms, max=2742.8ms + task_sampling: mean=596.5ms, total=596.5ms, count=1, min=596.5ms, max=596.5ms + task_specific_sample: mean=593.3ms, total=593.3ms, count=1, min=593.3ms, max=593.3ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=424.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:50:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:50:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:50:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:50:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173161m [env.py: 870] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:50:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.2ms, total=224.2ms [env.py: 1105] +05/12 12:50:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:50:12 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:50:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:50:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:50:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:50:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130613m [env.py: 870] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:50:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 180.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51550159 -0.81304641 -0.13061268] yaw=-64.4deg [env.py: 1019] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:50:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.5ms, total=225.6ms [env.py: 1075] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -0.813, -0.131) [env.py: 1079] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg [env.py: 1082] +05/12 12:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:50:14 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/12 12:50:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 12:50:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:50:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:50:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:50:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.236s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:50:28 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.790[m] 95.783[deg] [grasp_sample.py: 539] +05/12 12:50:29 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:50:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:50:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:50:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:50:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118064m [env.py: 870] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:50:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=229.2ms, total=229.2ms [env.py: 1105] +05/12 12:50:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:50:30 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:50:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:50:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:50:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:50:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128756m [env.py: 870] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:50:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.2ms, total=222.3ms [env.py: 1105] +05/12 12:50:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:50:32 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:50:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:50:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:50:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:50:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134180m [env.py: 870] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:50:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.3ms, total=226.4ms [env.py: 1105] +05/12 12:50:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:50:33 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:50:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:50:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185569m [env.py: 870] +05/12 12:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.6ms, total=230.6ms [env.py: 1105] +05/12 12:50:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:50:35 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188447m [env.py: 870] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.0° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62946883 -0.90179323 -0.18844712] yaw=-78.8deg [env.py: 1019] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:50:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.8ms, total=228.9ms [env.py: 1075] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.629, -0.902, -0.188) [env.py: 1079] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.8 deg [env.py: 1082] +05/12 12:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:50:36 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/12 12:50:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/12 12:50:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:50:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:50:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:50:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.058s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:50:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.657[m] 79.674[deg] [grasp_sample.py: 539] +05/12 12:50:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:50:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:50:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:51:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:51:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:51:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:51:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:51:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:51:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:51:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:51:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:51:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.429s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:51:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.474[m] 53.864[deg] [grasp_sample.py: 539] +05/12 12:51:06 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:51:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:51:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:51:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:51:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:51:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:51:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:51:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174722m [env.py: 870] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:51:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23744662 -1.10105129 -0.1747222 ] yaw=-30.7deg [env.py: 1019] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.8° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43805187 -0.92581183 -0.1747222 ] yaw=-63.4deg [env.py: 1019] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:51:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.0ms, total=232.1ms [env.py: 1075] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.101, -0.175) [env.py: 1079] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.7 deg [env.py: 1082] +05/12 12:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:51:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:51:07 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/12 12:51:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/12 12:51:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:51:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:51:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:51:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:51:09 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.700[m] 84.581[deg] [grasp_sample.py: 539] +05/12 12:51:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:51:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:51:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:51:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:51:41 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/12 12:51:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:52:01 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_018 [pipeline.py: 1174] +05/12 12:52:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_018 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:52:01 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 12:52:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:52:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:52:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:52:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_018 [save_utils.py: 785] +05/12 12:52:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_018 in 12.49s (batch: 3.32s, save: 9.17s) [pipeline.py: 300] +05/12 12:52:14 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.45s: + episode_total: mean=46.21s, total=138.63s, count=3, min=193.6ms, max=138114.6ms + sensor_polling: mean=316.3ms, total=92.68s, count=293, min=286.6ms, max=535.5ms + save_trajectories: mean=9.17s, total=9.17s, count=1, min=9171.5ms, max=9171.5ms + physics_step: mean=20.8ms, total=6.08s, count=293, min=14.3ms, max=65.5ms + save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3318.4ms, max=3318.4ms + task_specific_sample: mean=316.1ms, total=948.3ms, count=3, min=190.3ms, max=443.6ms + task_sampling_failed: mean=258.7ms, total=517.3ms, count=2, min=193.6ms, max=323.8ms + task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.0ms, max=2.6ms + mj_forward_sync: mean=418.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:52:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:52:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:52:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:52:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163582m [env.py: 870] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.6° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.0ms, total=203.0ms [env.py: 1105] +05/12 12:52:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 285] +05/12 12:52:15 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/12 12:52:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:52:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:52:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:52:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/12 12:52:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 178] +05/12 12:52:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 187] +05/12 12:52:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647) [env.py: 845] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130785m [env.py: 870] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/12 12:52:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.2° outside wedge [108.9°, 143.2°], rejecting... [env.py: 969] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17998709 -1.0000958 -0.13078482] yaw=-45.5deg [env.py: 1019] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:52:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.6ms, total=186.7ms [env.py: 1075] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.000, -0.131) [env.py: 1079] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/12 12:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:52:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1136] +05/12 12:52:17 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/12 12:52:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 12:52:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:52:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:52:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 465] +05/12 12:52:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.284s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:52:18 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:52:18 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1340] +05/12 12:52:19 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/12 12:52:19 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=False episode_total=1.35s: + episode_total: mean=14.84s, total=118.76s, count=8, min=229.9ms, max=72017.5ms + sensor_polling: mean=313.4ms, total=78.66s, count=251, min=291.7ms, max=530.7ms + physics_step: mean=20.4ms, total=5.12s, count=251, min=14.4ms, max=32.4ms + task_specific_sample: mean=311.9ms, total=2.50s, count=8, min=226.9ms, max=461.3ms + task_sampling: mean=448.5ms, total=1.35s, count=3, min=438.0ms, max=463.8ms + task_sampling_failed: mean=234.7ms, total=1.17s, count=5, min=229.8ms, max=238.0ms + scene_randomize: mean=1.2ms, total=9.5ms, count=8, min=1.0ms, max=2.3ms + mj_forward_sync: mean=411.1us, total=3.3ms, count=8, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:52:19 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1340] +05/12 12:52:20 INFO: [Worker 0] Worker 0 house 1 received shutdown signal [pipeline.py: 967] +05/12 12:52:20 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save [pipeline.py: 1292] +05/12 12:52:20 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up... [pipeline.py: 451] +05/12 12:52:20 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:52:20 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 14 episodes, total_time=4413.34s + Worker averages: + episode_total: mean=42.69s, total=2518.65s, count=59, min=171.5ms, max=185640.7ms + sensor_polling: mean=342.5ms, total=1557.03s, count=4546, min=253.4ms, max=823.5ms + save_trajectories: mean=9.44s, total=132.20s, count=14, min=8298.3ms, max=12087.8ms + physics_step: mean=22.3ms, total=101.36s, count=4546, min=14.1ms, max=90.2ms + save_batch_prep: mean=3.48s, total=48.69s, count=14, min=2873.7ms, max=4020.9ms + task_specific_sample: mean=387.5ms, total=22.86s, count=59, min=167.7ms, max=684.3ms + task_sampling: mean=524.6ms, total=20.46s, count=39, min=281.7ms, max=3289.8ms + task_sampling_failed: mean=267.9ms, total=5.36s, count=20, min=171.5ms, max=586.7ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2760.6ms, max=2760.6ms + scene_env_create: mean=1.62s, total=1.62s, count=1, min=1618.0ms, max=1618.0ms + scene_compile: mean=1.00s, total=1.00s, count=1, min=1003.0ms, max=1003.0ms + compile_mujoco: mean=725.1ms, total=725.1ms, count=1, min=725.1ms, max=725.1ms + compile_xml_load: mean=213.7ms, total=213.7ms, count=1, min=213.7ms, max=213.7ms + scene_init: mean=96.8ms, total=96.8ms, count=1, min=96.8ms, max=96.8ms + scene_randomize: mean=1.4ms, total=84.0ms, count=59, min=0.9ms, max=6.1ms + compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + compile_aux_policy_objects: mean=49.0ms, total=49.0ms, count=1, min=49.0ms, max=49.0ms + scene_asset_install: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + asset_install_grasps: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + mj_forward_sync: mean=419.6us, total=24.8ms, count=59, min=0.4ms, max=0.6ms + asset_install_objects: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + compile_robot_add: mean=7.1ms, total=7.1ms, count=1, min=7.1ms, max=7.1ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=16.2us, total=0.6ms, count=39, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=58, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:52:20 INFO: [Worker 0] Worker 0 house 1 received shutdown signal [pipeline.py: 967] +05/12 12:52:20 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save [pipeline.py: 1292] +05/12 12:52:20 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up... [pipeline.py: 451] +05/12 12:52:20 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:52:20 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 17 episodes, total_time=4366.89s + Worker averages: + episode_total: mean=41.33s, total=2520.87s, count=61, min=215.9ms, max=175990.2ms + sensor_polling: mean=334.8ms, total=1537.58s, count=4592, min=288.0ms, max=698.2ms + save_trajectories: mean=8.97s, total=107.68s, count=12, min=8161.9ms, max=10669.7ms + physics_step: mean=21.7ms, total=99.77s, count=4592, min=13.0ms, max=85.7ms + save_batch_prep: mean=3.21s, total=38.50s, count=12, min=2742.8ms, max=3947.8ms + task_specific_sample: mean=440.2ms, total=26.85s, count=61, min=213.2ms, max=1172.1ms + task_sampling: mean=517.1ms, total=19.65s, count=38, min=330.7ms, max=1175.7ms + task_sampling_failed: mean=432.1ms, total=9.94s, count=23, min=215.9ms, max=2910.3ms + scene_load: mean=2.55s, total=2.55s, count=1, min=2552.3ms, max=2552.3ms + scene_env_create: mean=1.64s, total=1.64s, count=1, min=1638.7ms, max=1638.7ms + scene_compile: mean=765.5ms, total=765.5ms, count=1, min=765.5ms, max=765.5ms + compile_mujoco: mean=494.2ms, total=494.2ms, count=1, min=494.2ms, max=494.2ms + compile_xml_load: mean=209.4ms, total=209.4ms, count=1, min=209.4ms, max=209.4ms + scene_init: mean=105.2ms, total=105.2ms, count=1, min=105.2ms, max=105.2ms + scene_randomize: mean=1.3ms, total=79.8ms, count=61, min=0.9ms, max=3.0ms + compile_aux_objects: mean=48.4ms, total=48.4ms, count=1, min=48.4ms, max=48.4ms + compile_aux_policy_objects: mean=48.4ms, total=48.4ms, count=1, min=48.4ms, max=48.4ms + scene_asset_install: mean=42.7ms, total=42.7ms, count=1, min=42.7ms, max=42.7ms + asset_install_grasps: mean=29.0ms, total=29.0ms, count=1, min=29.0ms, max=29.0ms + mj_forward_sync: mean=422.1us, total=25.7ms, count=61, min=0.4ms, max=0.6ms + asset_install_objects: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + compile_robot_add: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=15.4us, total=0.6ms, count=38, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=60, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:52:22 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:52:22 INFO: Success count: 14, Total count: 14 [pipeline.py: 1491] +05/12 12:52:22 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 12:52:22 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:52:22 INFO: Success count: 12, Total count: 17 [pipeline.py: 1491] +05/12 12:52:22 INFO: Success rate: 70.59% [pipeline.py: 1492] diff --git a/3drawers/sim_chunks/debug/chunk_002/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/debug/chunk_002/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 new file mode 100644 index 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